CSE 492 R - Winter 2020
Intro to Manipulators and Robotics Software
Maru Cabrera
January 9th, 2020
Agenda for Today
Some introductions: interest in robotics, programming.
Course overview
Introduction to RoboCup@Home
Personal Background
My favorite robot
NOW IT’S YOUR TURN
Name
Interest in robotics and/or programming
Favorite robot
Course Motivation and Overview
Our UW Team (Homeskies) has qualified to the RoboCup@Home 2020 competition in Bordeaux, France (June)
Pre-Capstone to gain experience in robotics practices:
Course Scope and Expectations
Course info in google site
With a new class comes uncertainty!
Calendar is tentative
Some of the details will unfold as we go
RoboCup @Home
Experience as Visiting Fellow for RoboCup 2019 in Sydney
Tasks in the rulebook change from year to year
Robotic Mobile Manipulators
Let’s decompose this phrase:
Robotic
Some philosophy → what is a robot?
Mobile
Capable of translation in the world
Manipulator
Capable of interacting with objects of the world
Google says:
“a machine capable of carrying out a complex series of actions automatically, especially one programmable by a computer”
ROS: Robotic Operating System
ROS is an open-source, meta-operating system for your robot.
Its primary goal is to support code reuse in robotics research and development.
Enables sharing and collaboration, as well as independent implementations.
ROS is designed around complex mobile manipulation platforms.
Including actuated sensing, e.g. sensors attached to arms
ROS makes it easier to take advantage of a distributed computing environment.
ROS: Key concepts
ROS packages
ROS messages
ROS nodes
ROS services
ROS action servers
ROS topics
ROS bags….. And many more!
The goal is to run many executables in parallel that need to be able to exchange data synchronously or asynchronously
In a nutshell:
TIME FOR HANDS-ON WORK!
Login information for workstations:
username: robotics
password: AX2020wi!
ROS Tutorials
Link to last Capstone → Lab 0: Introduction and ROS tutorials
Wishlist: get through Tutorials 2 - 13, install move-it and fetch repos.
Curve ball: catkin build instead of catkin_make for all tutorials
First step: $ sudo apt-get install python-catkin-tools
Also keep in mind we will be using ROS Melodic
MoveIt: $ sudo apt-get install -y ros-melodic-moveit-*
Fetch: $ sudo apt-get install -y ros-melodic-fetch-*
Resources available (optional)
HCR Lab wiki has additional videos and slides available.
Recommended software packages from @Home community: world modelling, mapping, navigation, face recognition, people following, object recognition, etc. https://github.com/RoboCupAtHome/AtHomeCommunityWiki/wiki/Software#Team_software_overview
Looking Ahead
Next week’s plans:
Teamwork
Collaborative software development
GitHub practices
Team roles, rules/agreements