Citation
Marcus Pan, Amanda Prorok, Philip Dames, Mark Oehlberg, Edward A. Lee. "Integration of Robotic Systems into an IoT Framework via Access\ ors". Talk or presentation, 16, October, 2015; Presented at the Eleventh Biennial Ptolemy Miniconference, Berkeley.

Abstract
The Ptolemy Project offers a way of enabling swarmlets to interoperate with other devices at a large scale, making it possible to include a diverse set of standards and mechanisms. In this talk, we would like to present work that aimed at integrating robots into the swarmlet framework by creating an interface between accessors and ROS (Robot Operating System).

ROS provides an open-source software framework to develop and use robotic algorithms for a wide range of applications. Computational nodes in ROS communicate over topics, which are bound to a data-type. To integrate ROS with external programs, ROS provides a library called rosbridge that exposes active ROS topics through a websocket server. In order to create an interface, we extended the WebSocketClient accessor and established a connection to a rosbridge server. Thus, we established full duplex communication between ROS and the accessor framework.

A scenario was designed to test the feasibility of connecting the accessor framework to ROS. In this scenario, certain objects were placed in an environment. A ground robot visited each object and turned on a Philips Hue smart bulb when the object was reached. To help the robot localize the objects, a statically mounted Foscam IP camera detected AprilTags that were placed on the objects. We used the Scarab ground robot developed at UPenn and its available ROS packages for SLAM, navigation, and AprilTag detection. We created accessors to publish and subscribe to ROS topics, compute appropriate waypoints, and turn on Hue bulbs (see diagram below). A short demo video can be viewed here: https://www.dropbox.com/sc/xl82i2y4tosbjha/AAAKiS1jLghjb4YBnRZSZ---pUa

Electronic downloads

• Pan_IntegrationOfRoboticSystemsIntoAnIoTFrameworkViaAccessors_PtolemyMiniconference_16Oct2015.pdf · application/pdf · 2644 kbytes

• HTML

  Marcus Pan, Amanda Prorok, Philip Dames, Mark Oehlberg,
  Edward A. Lee. <a
  href="http://chess.eecs.berkeley.edu/pubs/1134.html"><i>Integration
  of Robotic Systems into an IoT Framework via Access\
  ors</i></a>, Talk or presentation,  16, October,
  2015; Presented at the <a
  href="http://ptolemy.eecs.berkeley.edu/conferences/15/"
  >Eleventh Biennial Ptolemy Miniconference</a>,
  Berkeley.

• Plain text

  Marcus Pan, Amanda Prorok, Philip Dames, Mark Oehlberg,
  Edward A. Lee. "Integration of Robotic Systems into an
  IoT Framework via Access\ ors". Talk or presentation, 
  16, October, 2015; Presented at the <a
  href="http://ptolemy.eecs.berkeley.edu/conferences/15/"
  >Eleventh Biennial Ptolemy Miniconference</a>,
  Berkeley.

• BibTeX

  @presentation{PanProrokDamesOehlbergLee15_IntegrationOfRoboticSystemsIntoIoTFrameworkViaAccess,
      author = {Marcus Pan and Amanda Prorok and Philip Dames and
                Mark Oehlberg and Edward A. Lee},
      title = {Integration of Robotic Systems into an IoT
                Framework via Access\ ors},
      day = {16},
      month = {October},
      year = {2015},
      note = {Presented at the <a
                href="http://ptolemy.eecs.berkeley.edu/conferences/15/"
                >Eleventh Biennial Ptolemy Miniconference</a>,
                Berkeley},
      abstract = {The Ptolemy Project offers a way of enabling
                swarmlets to interoperate with other devices at a
                large scale, making it possible to include a
                diverse set of standards and mechanisms. In this
                talk, we would like to present work that aimed at
                integrating robots into the swarmlet framework by
                creating an interface between accessors and ROS
                (Robot Operating System). <p>ROS provides an
                open-source software framework to develop and use
                robotic algorithms for a wide range of
                applications. Computational nodes in ROS
                communicate over topics, which are bound to a
                data-type. To integrate ROS with external
                programs, ROS provides a library called rosbridge
                that exposes active ROS topics through a websocket
                server. In order to create an interface, we
                extended the WebSocketClient accessor and
                established a connection to a rosbridge server.
                Thus, we established full duplex communication
                between ROS and the accessor framework. <p>A
                scenario was designed to test the feasibility of
                connecting the accessor framework to ROS. In this
                scenario, certain objects were placed in an
                environment. A ground robot visited each object
                and turned on a Philips Hue smart bulb when the
                object was reached. To help the robot localize the
                objects, a statically mounted Foscam IP camera
                detected AprilTags that were placed on the
                objects. We used the Scarab ground robot developed
                at UPenn and its available ROS packages for SLAM,
                navigation, and AprilTag detection. We created
                accessors to publish and subscribe to ROS topics,
                compute appropriate waypoints, and turn on Hue
                bulbs (see diagram below). A short demo video can
                be viewed here:
                https://www.dropbox.com/sc/xl82i2y4tosbjha/AAAKiS1jLghjb4YBnRZSZ---pUa },
      URL = {http://chess.eecs.berkeley.edu/pubs/1134.html}
  }
  

Posted by Christopher Brooks on 19 Oct 2015.
Groups: ptolemy
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