Software « CAR: Components, Agents, and Robots

In this tutorial you will be able to get the laser and odometry data from a Robulab robot published into ROS topics.

Setup

You must ensure to meet all the requirements listed in the section Setup in Testing Robulab‘s post.

Install

Create a fresh PhaROS image by executing in a terminal:
```
$ pharos create newimage
```
Open the image. This will open Pharo IDE.
```
$ rosrun newimage edit
```
For ease Proxy (de)activation and Process cleaning (stoping & terminating PhaROS nodes), we recommend you to install the CAR shortcuts workspace: open a workspace, copy&paste the following script, select it completely and Do-it:
```
Gofer new smalltalkhubUser: 'PabloEstefo'
    project: 'ExperimentUtils';
    package: 'Experiment-Utils';
    load.
(Smalltalk at: #EUWorkspace) open.
```
It will open a new workspace titled CAR Utils that will have the following shortcuts:
- ProxySwitch on to activate HTTP proxy
- ProxySwitch off to deactivate it
- ProcessesCleaner clean to terminate all non-critical processes. This will terminate any PhaROS node running. It is useful when you edit some script and want to relaunch it.

Then install the required software for controlling Robulab robot by selecting and Do-it the following script on an empty workspace:

Gofer it
    smalltalkhubUser: 'CAR'
    project: 'Robulab';
    configurationOf: 'PureROS';
    load.
((Smalltalk at: #ConfigurationOfPureROS) project version: #bleedingEdge) load: {'kompai'}.

Test

Start roscore: in a terminal execute

$ roscore
Start the main script driver for Robulab1:
1. On the CAR Utils workspace, select and Do-it ProxySwith off to deactivate HTTP Proxy
2. Write in a workspace & Do-it the following script:
PureROSKompai new scriptKompai1

In case you are using the Kompai2 Robulab, launch the script scriptKompai2 instead.

Let’s see which topics are available. To do so, in a terminal execute:

$ rostopic list

and you should see

/command_velocity
/example/string
/initialpose
/kompai/scan
/kompai2/pose
/kompai2/trajectory/differential
/orientation
/rosout
/rosout_agg

Ok, now we know that laser (/kompai/scan) and pose (/kompai2/pose) topics exist, let’s inspect the data the robot is publishing into those topics. First we will see pose data by executing:

$ rostopic echo /kompai2/pose

and you should see something like this:
```
header:
  seq: 65593
  stamp:
    secs: 1407481583
    nsecs: 757790000
  frame_id: /map
pose:
  position:
    x: 0.0
    y: 0.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0
---
```

The same way, let’s inspect laser data by executing:

$ rostopic echo /kompai/scan

and you will see something like this:

---
header:
  seq: 529
  stamp:
    secs: 1407331004
    nsecs: 244896000
  frame_id: /laser
angle_min: -2.36492109299
angle_max: 2.34746789932
angle_increment: 0.0174532923847
time_increment: 0.0
scan_time: 0.0
range_min: 0.170000001788
range_max: 3.80999994278
ranges: [0.17000000178813934, 2.109999895095825, 2.109999895095825, 3.809999942779541, 3.7899999618530273, 3.740000009536743, 3.7100000381469727, 3.6700000762939453, 3.630000114440918, 1.9500000476837158, 1.909999966621399, 1.8899999856948853, 1.8799999952316284, 1.8700000047683716, 1.5299999713897705, 1.5299999713897705, 1.5099999904632568, 1.5, 1.4900000095367432, 1.4700000286102295, 1.4700000286102295, 1.4500000476837158, 1.4600000381469727, 1.4500000476837158, 1.4299999475479126, 1.4199999570846558, 1.4199999570846558, 1.5499999523162842, 1.7000000476837158, 1.7100000381469727, 1.7100000381469727, 1.7000000476837158, 1.7000000476837158, 1.7000000476837158, 1.7000000476837158, 1.7000000476837158, 1.690000057220459, 1.7000000476837158, 1.690000057220459, 1.7000000476837158, 1.7100000381469727, 1.7000000476837158, 1.7000000476837158, 1.7100000381469727, 1.7100000381469727, 1.7100000381469727, 1.7300000190734863, 1.7300000190734863, 1.7300000190734863, 1.7400000095367432, 1.7400000095367432, 1.75, 1.7599999904632568, 1.7699999809265137, 1.7799999713897705, 1.7899999618530273, 1.7999999523162842, 1.809999942779541, 1.8300000429153442, 1.840000033378601, 1.850000023841858, 1.8799999952316284, 1.8899999856948853, 1.899999976158142, 1.9299999475479126, 0.699999988079071, 0.6499999761581421, 0.6200000047683716, 0.6100000143051147, 0.5899999737739563, 0.5899999737739563, 0.5600000023841858, 0.5899999737739563, 0.5899999737739563, 0.5899999737739563, 0.5699999928474426, 0.5699999928474426, 0.5699999928474426, 0.5699999928474426, 0.5799999833106995, 0.6399999856948853, 2.059999942779541, 2.069999933242798, 2.059999942779541, 2.0799999237060547, 2.0899999141693115, 2.0999999046325684, 2.0899999141693115, 0.8899999856948853, 0.8799999952316284, 0.8999999761581421, 2.4800000190734863, 2.430000066757202, 2.390000104904175, 2.359999895095825, 2.3299999237060547, 2.2899999618530273, 2.259999990463257, 2.2300000190734863, 2.200000047683716, 2.1700000762939453, 2.1500000953674316, 1.0499999523162842, 1.0099999904632568, 0.9900000095367432, 0.9700000286102295, 0.9700000286102295, 0.949999988079071, 0.9399999976158142, 0.949999988079071, 0.9599999785423279, 2.0199999809265137, 2.009999990463257, 2.0, 1.9800000190734863, 1.9800000190734863, 1.9700000286102295, 1.9600000381469727, 1.940000057220459, 1.9500000476837158, 1.9500000476837158, 1.940000057220459, 1.9299999475479126, 1.940000057220459, 1.9299999475479126, 2.630000114440918, 3.690000057220459, 3.690000057220459, 3.700000047683716, 3.690000057220459, 3.700000047683716, 3.7100000381469727, 3.7200000286102295, 3.7200000286102295, 3.7200000286102295, 3.7200000286102295, 3.740000009536743, 3.7699999809265137, 3.7300000190734863, 2.7200000286102295, 2.5, 2.319999933242798, 2.1700000762939453, 1.9299999475479126, 1.909999966621399, 1.7999999523162842, 1.7100000381469727, 1.6299999952316284, 1.559999942779541, 1.4900000095367432, 1.409999966621399, 1.350000023841858, 1.2799999713897705, 1.2400000095367432, 1.2300000190734863, 1.2400000095367432, 1.25, 1.2699999809265137, 1.2699999809265137, 1.2999999523162842, 1.309999942779541, 1.3300000429153442, 1.350000023841858, 1.3600000143051147, 1.3799999952316284, 1.399999976158142, 1.4199999570846558, 1.440000057220459, 1.5, 2.369999885559082, 2.319999933242798, 2.2799999713897705, 2.240000009536743, 2.2100000381469727, 2.1600000858306885, 2.140000104904175, 2.0999999046325684, 2.059999942779541, 2.0299999713897705, 2.009999990463257, 1.9800000190734863, 1.940000057220459, 1.9800000190734863, 2.0299999713897705, 2.0799999237060547, 2.1500000953674316, 2.2200000286102295, 2.2699999809265137, 1.4700000286102295, 1.4800000190734863, 2.700000047683716, 2.6700000762939453, 2.6600000858306885, 2.6500000953674316, 2.609999895095825, 2.5999999046325684, 2.5799999237060547, 2.569999933242798, 2.549999952316284, 2.5299999713897705, 2.509999990463257, 2.509999990463257, 2.5, 2.4800000190734863, 2.4700000286102295, 2.4700000286102295, 2.450000047683716, 2.4600000381469727, 2.430000066757202, 2.430000066757202, 2.430000066757202, 2.430000066757202, 2.4200000762939453, 2.430000066757202, 2.4200000762939453, 2.4100000858306885, 2.4100000858306885, 2.4000000953674316, 2.4100000858306885, 2.4100000858306885, 2.440000057220459, 2.5199999809265137, 2.5199999809265137, 2.5299999713897705, 2.5199999809265137, 2.25, 2.1600000858306885, 2.0299999713897705, 1.899999976158142, 1.899999976158142, 1.909999966621399, 1.8700000047683716, 1.9600000381469727, 1.9900000095367432, 2.0199999809265137, 1.840000033378601, 1.75, 1.6399999856948853, 1.5700000524520874, 1.5, 1.4299999475479126, 1.3700000047683716, 1.309999942779541, 1.25, 1.2100000381469727, 1.1699999570846558, 1.1200000047683716, 1.090000033378601, 1.059999942779541, 1.0299999713897705, 1.0700000524520874, 1.0800000429153442, 1.100000023841858, 1.1100000143051147, 1.1200000047683716, 1.1299999952316284, 1.149999976158142, 1.1799999475479126, 1.190000057220459, 1.2000000476837158, 1.2100000381469727, 1.2300000190734863, 1.25, 1.2699999809265137, 1.2999999523162842, 1.3200000524520874, 1.350000023841858, 1.3799999952316284, 1.409999966621399, 1.440000057220459, 1.4700000286102295]
intensities: []

In this tutorial we will make basic tests to assert that both the robulab robot and the laptop are configured correctly. We will consider as well configured if we can start a PhaROS node that handle robulab robot, so we can publish motion messages through rostopic pub command and make it to move.

Setup

Robulab charged and switched on.
Laptop with Ubuntu 14.04
ROS Indigo installed on laptop (Read: How to install ROS Indigo in Ubuntu 14.04)

Your .bashrc file you should look like this:

source /opt/ros/indigo/setup.bash
source ~/PhaROS-ws/devel/setup.bash

ROS_HOSTNAME=localhost
ROS_MASTER_URI=http://localhost:11311

PhaROS installed (Read: How to Install PhaROS).
Robot should be unplugged and free to move.

Ok, lets test it

Create a package for testing the robulab. In a terminal run (this could take a couple of minutes):
```
$ pharos create testrobulab
```
Open the Pharo image of your PhaROS package by running this:
```
$ rosrun testrobulab edit
```

Install the required software to controll Robulab by executing this script.

Gofer it
    smalltalkhubUser: 'CAR'
    project: 'Robulab';
    configurationOf: 'PureROS';
    load.
((Smalltalk at: #ConfigurationOfPureROS) project version: #bleedingEdge) load: {'kompai'}.

Connect your laptop to UBNT wireless network.

Start ROS by running roscore in a terminal.

$ roscore

If everything goes fine it should print something like this:

...
started roslaunch server http://achao:56856/
ros_comm version 1.11.3

SUMMARY
========

PARAMETERS
 * /rosdistro: <...>
 * /rosversion: <...>

NODES

auto-starting new master
process[master]: started with pid [4073]
ROS_MASTER_URI=http://achao:11311/

setting /run_id to 6e36ef46-005d-11e4-ac41-b8ee65bb26b0
process[rosout-1]: started with pid [4086]
started core service [/rosout]

Where achao is the hostname of the laptop I am using.

Be sure that the Pharo image has not http proxy set, or if it has, they are coherent with your network configuration. To deactivate it you can just execute this in a workspace:
```
NetworkSystemSettings useHTTPProxy: false
```
Open a workspace and execute:
```
PureROSKompai new scriptKompai1
```
change it to scriptKompai2 if you are using Robulab2. This will create a PhaROS node that you can check by executing:
```
$ rosnode list
```
and you would see
```
/PharoHandle-1404143614
/rosout
```

Let’s check the available topics to publish, in a terminal execute:

$ rostopic list

and the list of topics should be:

/command_velocity
/initialpose
/kompai/scan
/kompai2/pose
/kompai2/trajectory/differential
/orientation
/rosout
/rosout_agg

Let’s publish some motion message in /command_velocity. For that lets use the command pub for rostopic which has the following structure: rostopic pub <topic id> <topic type> <message> command. Press [TAB] key to autocomplete: topic id, topic type and get message template.
```
$ rostopic pub /command_velocity geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.5"
```

And the robot will start to rotate. If so you are done :)

deprecated

cf. https://github.com/CARMinesDouai/pharos/wiki/Install-PhaROS

To install:

Install Ubuntu 14.04 64bits
Install curl
```
sudo apt-get install curl
```
Install ROS Indigo

Install PhaROS

curl http://car.mines-douai.fr/scripts/PhaROS | bash

Test the installation

source ~/.bashrc
pharos create myfirstpharospackage
rosrun myfirstpharospackage edit

Enjoy!

To uninstall (why would you need that? ;-)):

~/PhaROS-bin/pharos_uninstall

Jetstorm is the library to make Pharo communicate with the Lego Mindstorm Ev3. We provide the technical report. It explains the protocol and the architecture of the library.

If you want to cite it, here is the lines to copy and paste in bibtex:

@techreport{Lava14a,
   Author = {Jannik Laval},
   Institution = {URIA -- Ecole des Mines de Douai},
   Title = {JetStorm - A communication protocol between Pharo and Lego Mindstorms},
   Url = {www.jannik-laval.eu/assets/files/papers/Lava14a-JetStorm.pdf},
   Year = {2014}
}

With the evolution of JetStorm, the Technical Report will be improved.

Here are videos of a students’ project of a tracker robot that relies on an external kinect sensor driven through ROS. The kinect observes the whole scene. A PhaROS-based node controls the robot to track a ball based on the the kinect output. When no ball is detected, the robot goes back to a home position.

Ball Following Behavior

Go Home Behavior

Tracker Camera View

We have already reported about a team of our students competing for the 2014 edition of the Eurobot contest (french chapter). The project where they have been using PhaROS is now over. Below the last videos. Hopefully a new team will be continue the effort next year and build up on what has been done so far.

IronMines Bot in the lab scoring 4 balls and 1 triangle

IronMines Bot in the lab scoring 1 ball and 2 triangles

IronMines during the competition

Xuan Sang Le is a PhD student who has joined our team mid-february. His work is co-supervized by Ecole des Mines and ENSTA is about speed optimization of Smalltalk robotic software by means of FPGAs. The first step is to develop an application fully in Smalltalk and our PhaROS Robotics framework that will serve as a reference for our metrics. The app we have chosen is a simple tracker robot that follows an object of a particular color. Beside being fun, the result shown by the video below is interesting. As we have initially expected we can’t pretend to be real-time. Still, Pharo is capable of fetching an image through wifi, process it and discover the position of the object 650 milliseconds. And this is with non-optimized code. Figures are likely to be better after optimization.

I am pleased to announce Phratch website.

Thanks to the support of ESUG, it is possible to make visible this wonderful project.

For now, what is available on the site:
- a presentation of Phratch (you can refer to it now)
- installation files, there is a portable version for Windows, Linux, MacOS.
- tutorials
- block documentation: generated from a Phratch image !
- Some elements for Jetstorm (a lot of new articles will come soon)
- a category with news

Now about the versions, I am developing the version 3.0
Why this number ? Why a third version in one year of work ?
It is clear that a lot of work is already done. Each version represents strong changes in the architecture.
- version 1.0 is the port of Scratch + BYOB + Panther in Pharo. It is working but not extendable.
- version 2.0 makes Phratch really extendable. We can develop our own block for everything in Pharo. I also make Phratch more modular with the use of Pragmas for some menus, declaration of blocks… It is available only in Pharo 3.0. There are some languages available, I hope more people can translate in other languages.
- version 3.0 is the version in development. What is new here: Before this version Phratch was really slow. I am cleaning the code, and now it begins to be fast, really fast ! We also begun to write tests.

I am really happy to have the support of ESUG and Pharo.
Thanks to the community to make Pharo as usable as it it, it makes our dreams possible.

A team of our students is competing for the 2014 edition of the Eurobot contest (french chapter). Their PhaROS-based robot came to life. You can see it in action in the videos below.

As i already shout in the FOSDEM 2014 slides post, i have presented PhaROS in the last edition of FOSDEM, under the title of PhaROS: Towards Live Environments in Robotics.

I bring now to you this video taken during the presentation. I wish you to enjoy it!

Sorry if my hair is disheveled :), i am not very photogenic.

http://mirror.as35701.net/video.fosdem.org/2014/K4401/Saturday/PhaROS.webm

Enjoy it!

CAR: Components, Agents, and Robots

with Dynamic Languages

Category Archives: Software

Getting laser and odometry information from Robulab robot

Setup

Install

Test

Testing Robulab

Setup

Ok, lets test it

How-to install PhaROS

Technical Report for JetStorm

Kinect-Based Tracker Robot

Final version of IronMines 2014 robot

PhaROS-Based Tracker Robot

Phratch Website + version 3.0 in dev

PhaROS in a Student’s Robot

PhaROS @ FOSDEM 2014 – Video Presentation