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PierreKhancyr Ros and ArduPIlot

ROS and ArduPilot can be used together by translating between their communication protocols. ROS is a proven middleware for robotics that has tools for algorithms, but is not lightweight enough for embedded systems. ArduPilot is a proven autopilot that provides a safe base for vehicles but lacks high-level capabilities. They can be combined so ROS extends ArduPilot with algorithms while ArduPilot handles low-level control and sensing. This allows for applications like heterogeneous swarm robotics research projects.

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58 views17 pages

PierreKhancyr Ros and ArduPIlot

ROS and ArduPilot can be used together by translating between their communication protocols. ROS is a proven middleware for robotics that has tools for algorithms, but is not lightweight enough for embedded systems. ArduPilot is a proven autopilot that provides a safe base for vehicles but lacks high-level capabilities. They can be combined so ROS extends ArduPilot with algorithms while ArduPilot handles low-level control and sensing. This allows for applications like heterogeneous swarm robotics research projects.

Uploaded by

Thành Trung
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ROS AND ARDUPILOT

Pierre Kancir – Canberra Unconference 2018


ROS
2

¨ Robot Operating System


¨ NOT an OS but a middleware
¨ Enable code reuse in robotics research and
development and to release ready to use software
packages for a large set of common tasks.
Application

Middleware

OS

Hardware
ROS Middleware
3

WHY ROS ?
No middleware A company + a ROS
middleware

• Code linked • Reusable • Open source


to hardware codebase • Middleware
• Multi • Easier for robots
components programming • Tools for
communication • Locked to simplier
complex company robots
programming

PR2, first ROS robot


ROS Architecture
4

¨ TCP/IP communication Peer


to
¨ Publish/Subscribe peer
everywhere ! Free & Multi
Open Langu
Source age
¨ Standard message set ROS
dedicated to robots
Plent
¨ Tools Light y
C++ tools
¨ More tools…
Java
XML- Lisp
RPC

Python
ROS Wording
5

¨ Nodes : computation processes like control motors, do SLAM


etc.
¨ Master service : manage the communications.
¨ Parameter server : where parameters are stored.
¨ Messages : data structure for communication between nodes.
¨ Topics : asynchronous exchanges.
¨ Services : synchronous exchanges.
¨ Bags : data logging.
ROS Wording
6
ROS Some Tools
7

¨ Gazebo : simulation
¨ Catkin : compilation
with magic
¨ RQT : Gui for
everything
¨ Mavros : ROS <->
Mavlink translation
ROS Problems
8

¨ Centralised architecture and no real time contraints.


¨ Build for ground robots.
¨ Not light enough to be embedable.
¨ Not usage on unreliable networks (Wifi, RF, etc.).
¨ No Multi-Robots System.
¨ Few compatibility is other systems : Cloud, IoT, etc.
¨ Too much undocumented / rooting package
¨ Package are mostly done by academic : Beware the bugs !
ROS 2.0
9

¨ DDS
¨ Embedable
¨ Decentralised
¨ RT-compatible
¨ MRS-compatible
10

Questions on ROS ?

Need example ?
ROS and ArduPilot
11

¨ ROS is a proven ¨ ArduPilot is a proven


middleware for embedded autopilot
robotic
Problematic
12

¨ ROS only speaks ROS and ArduPilot only speaks


Mavlink
¨ Translator possible :
¤ Mavros
¤ autopilot_bridge

¨ ArduPilot input are constraints by Mavlink


What can it be used for ?
13

¨ ROS already got plenties of package for high


level algorithm : SLAM, filtering, video, etc.
¨ ROS can extend ArduPilot capabilities.
¨ ArduPilot bring a safe and proven base for ROS
vehicle and sensors !
Swarm with ROS and ArduPilot
14

¨ Research project on
heterogenous swarm
patrolling (pheromone
based)
How hard it is to use ?
15

¨ Just need to understand how to use a


serial/tcp/udp port !

¨ Let’s do it !
Advanced simulation
16

¨ ArduPilot lack of 3D simulation


¨ Gazebo as plotter
¨ Gazebo as simulator
¤ Still
basic : feed SITL with IMU and position only
¤ Patch for GPS, rangefinder comming
¤ Merge into Gazebo master branch is stall
17

Questions ?

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