Cloud Robotics

Friday, May 13, 2011
Cloud Robotics
Damon Kohler, Ryan Hickman (Google) Ken Conley, Brian Gerkey (Willow Garage) May 11, 2011
Overview
Introduction (Ryan) ROS (Ken and Brian) ROS on Android (Damon) Closing Remarks (Ryan) Q&A
Feedback: http://goo.gl/tTQmW Hashtags: #io2011 #TechTalk

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Cloud-connected robots can...
perceive, understand, share, and react.
Connect hardware to the cloud.

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Android Open Accessory API
Object Recognition
Mapping and Navigation
Voice and Text Services

Voice recognition Optical character recognition Language translation Text to speech
The cloud enables smarter robots.

Off the shelf hardware means affordable robots Lower the barrier to entry for robotics Scalable CPU, memory, and storage
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ROS
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ROS Code Repositories

November 2007 - March 2011
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ROS Code Packages

November 2007 - March 2011
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Nodes
Anonymous Publish and Subscribe
ROSCore (DNS-like) Publisher Subscriber
/topic
Publisher
Subscriber
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ROS Publish and Subscribe Example
$ rostopic pub /chatter std_msgs/String 'Hello World' -r 10 ... $ rostopic echo /chatter data: Hello World --data: Hello World --data: Hello World ---
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Functionality
Mobility
Perception
Manipulation
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PR2
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Specifications
Costs $400,000 2x Servers (8 core i7) 2x 24GB RAM 7x Cameras (2x Stereo) 2x Laser rangefinders 2x 4 DOF Arm, 3 DOF Wrist Omnidirectional base
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Robots in the Home
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RViz
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The message is the medium.

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Head Tracking
# create goal message: 1 meter in front of base target = PointStamped(x=1.0, frame_id='base_link') goal = msg.pr2_controllers_msgs.PointHeadGoal( target=target, min_duration=Duration(1.0)) # publish topics.head_traj_controller.point_head_action.goal(goal=goal)
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Head Tracking
# create goal message: left gripper target = PointStamped(frame_id='l_gripper_tool_frame') goal = msg.pr2_controllers_msgs.PointHeadGoal( target=target, min_duration=Duration(0.2)) # publish loop r = Rate(10) while ok(): topics.head_traj_controller.point_head_action.goal(goal=goal) r.sleep()
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Hello World Redux

import math, time # create pose message: 1 meter in front of shoulder p = PoseStamped(frame_id='l_torso_lift_side_plate_link') p.pose.orientation.y = -math.sqrt(2)/2.0 p.pose.orientation.w = math.sqrt(2)/2.0 p.pose.position.x = 0.5 # meters # publish loop r = Rate(10) while ok(): p.pose.position.y = math.sin(1.5*time.time())*0.3 topics.r_cart.command_pose(p) r.sleep()
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ROS in the Cloud
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ROS in the Cloud
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ROS in the Cloud
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Personal robots need to be inexpensive.

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PR2 Power Consumption

Max Load (watts)
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LIDAR: >$!000
(Robot not included)
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ROS 3D Contest
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ROS 3D Contest
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Turtlebot Kit
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Google StreetView Robot
Image Source: Wikipedia, Public Domain
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Mapping
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Home Search Engine
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Personal Replicators
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Image Source: Makerbot Industries
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ROS and Android
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ROS on Android
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What is rosjava?
ROS framework written in pure Java Android compatible Open source Early release
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Nodes
public class Talker implements NodeMain { @Override public void main(NodeConfiguration config) { ... } }
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Publishers
@Override public void main(NodeConfiguration config) { Node node = new Node(talker, config); Publisher<std_msgs.String> publisher = node.createPublisher(/chatter); while (true) { std_msgs.String msg = new std_msgs.String(); msg.data = Hello world!; publisher.publish(msg); Thread.sleep(1000); } }
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Subscribers
@Override public void main(NodeConfiguration config) { Node node = new Node(listener, config); node.createSubscriber(/chatter, new MessageListener<std_msgs.String>() { @Override public void onNewMessage(std_msgs.String msg) { System.out.println(msg.data); } }); }
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Starting rosjava Nodes
$ rosrun rosjava run org.ros.Talker ... $ rosrun rosjava run org.ros.Listener Hello, world! Hello, world! ...
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Hello, World!
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Running Nodes
public class MainActivity extends Activity { private final NodeRunner nodeRunner; public MainActivity() { super(); nodeRunner = NodeRunner.createDefault(); } ... }
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ROS Views
@Override public void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); RosTextView<std_msgs.String> txt = findViewById(R.id.txt); txt.setTopicName(/chatter) nodeRunner.run(new Talker()); nodeRunner.run(txt); }
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RosTextView
public class RosTextView<T> extends TextView implements NodeMain { private String topicName; private Node node; @Override public void main(NodeConfiguration config) { ... } ... }
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ROS Views are Nodes

@Override public void main(NodeConfiguration config) { node.createSubscriber(topicName, new MessageListener<T>() { @Override public void onNewMessage(final T message) { post(new Runnable() { @Override public void run() { setText(message.toString()); }); } }); }
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Visualizing Orientation Readings
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Integration with Sensors

@Override public void main(NodeConfiguration config) { SensorManager mgr = getSystemService(SENSOR_SERVICE); Sensor s = mgr.getDefaultSensor( Sensor.TYPE_ROTATION_VECTOR) mgr.registerListener(new SensorEventListener() { ... }, s, SensorManager.SENSOR_DELAY_FASTEST); }
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Publishing Orientation Readings

@Override public void onSensorChanged(SensorEvent e) { float[] vec = new float[4]; SensorManager.getQuaternionFromVector(vec, e.values); Quaternion orientation = new Quaternion(); orientation.w = vec[0]; ... PoseStamped pose = new PoseStamped(); pose.position = new Point(0, 0, 0); pose.orientation = orientation; publisher.publish(pose); }
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Image Transport: Subscribers
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RosImageView
@Override public void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); RosImageView<CompressedImage> image = findViewById(R.id.image); image.setTopicName(/camera) nodeRunner.run(image); }
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Image Transport: Publishers
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Camera Publisher
@Override public void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); RosCameraPreviewView camera = findViewById(R.id.camera); camera.setTopicName(/camera) nodeRunner.run(camera); }
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PR2 and Android Demo

Tablet subscribes to PR2 camera images PR2 subscribes to tablet orientation
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Android Possibilities
Open Accessory API Accelerometer Gyroscope Compass GPS Camera Touch screen Wireless network
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Closing Remarks
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Object Recognition Demo

Train a custom corpus of objects Store the knowledge in the cloud Any robot can access the shared objects
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Object Recognition Demo
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Project Phndox
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What robotics problems can you tackle?

Process large amounts of data Share knowledge among multiple devices Create new forms of user interaction
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Enable your apps for cloud-connected robots!

ROS-enable web services and applications ROS-enable Android apps Connect hardware to Android devices Connect the physical world to the cloud
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Visit http://www.cloudrobotics.com/ See us in the Android Interactive Zone on the 3rd floor See us at Maker Faire on the 21st and 22nd
Q&A
Friday, May 13, 2011 66

Cloud Robotics

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Cloud Robotics

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Friday, May 13, 2011

Friday, May 13, 2011

Feedback: http://goo.gl/tTQmW Hashtags: #io2011 #TechTalk

Cloud-connected robots can...

perceive, understand, share, and react.

Friday, May 13, 2011

Connect hardware to the cloud.

Android Open Accessory API

Friday, May 13, 2011

Friday, May 13, 2011

Mapping and Navigation

Friday, May 13, 2011

Voice and Text Services

Friday, May 13, 2011

The cloud enables smarter robots.

Friday, May 13, 2011

ROS Code Repositories

Friday, May 13, 2011

ROS Code Packages

Friday, May 13, 2011

Feedback: http://goo.gl/tTQmW Hashtags: #io2011 #TechTalk

ROSCore (DNS-like) Publisher Subscriber

Friday, May 13, 2011

ROS Publish and Subscribe Example

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011

Robots in the Home

Friday, May 13, 2011

The message is the medium.

Friday, May 13, 2011

Friday, May 13, 2011

Hello World Redux

Friday, May 13, 2011

ROS in the Cloud

Friday, May 13, 2011

ROS in the Cloud

Friday, May 13, 2011

Personal robots need to be inexpensive.

PR2 Power Consumption

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011

Google StreetView Robot

Image Source: Wikipedia, Public Domain

Friday, May 13, 2011

Friday, May 13, 2011

Home Search Engine

Friday, May 13, 2011

Friday, May 13, 2011

ROS and Android

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011

Starting rosjava Nodes

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011

Friday, May 13, 2011