Open source robotic 3D mapping framework with ROS — Robot Operating System, PCL — Point Cloud Library and Cloud Compare

2015 ◽  
Author(s):  
Janusz Bedkowski ◽  
Michal Pelka ◽  
Karol Majek ◽  
Tresya Fitri ◽  
Jacek Naruniec
Keyword(s):  
Operating System ◽  
Open Source ◽  
Point Cloud ◽  
3D Mapping ◽  
Robot Operating System

Service-Robotik flexibel gestalten

Konstruktion ◽  
2019 ◽  
Vol 71 (04) ◽  
pp. 26-28
Author(s):  
Daniel Baković
Keyword(s):  
Operating System ◽  
Open Source ◽  
Robot Operating System ◽  
Start Ups

Passende Schnittstellen und Offenheit spielen in der Service-Robotik eine wichtige Rolle, um flexible Applikationen für den industriellen Einsatz zu entwickeln. Schließlich ist der Markt von innovativen Start-ups geprägt und der Wunsch nach Interoperabilität groß. Mithilfe des Open-Source-Robotik-Frameworks ROS (Robot Operating System) können Anwender ihre individuelle Service-Robotik-Applikation einfach und flexibel umsetzen.

scholarly journals A Tailored Participatory Action Research for FOSS Communities

2020 ◽  
Author(s):  
Adam Alami ◽  
Peter Axel Nielsen ◽  
Andrzej Wasowski
Keyword(s):  
Operating System ◽  
Quality Assurance ◽  
Action Research ◽  
Participatory Action Research ◽  
Open Source ◽  
Control Mechanisms ◽  
Participatory Action ◽  
Established Method ◽  
Robot Operating System ◽  
Specific Control

Participatory Action Research (PAR) is an established method to implement change in organizations. However, it cannot be applied in the open source (FOSS) communities, without adaptation to their particularities, especially to the specific control mechanisms developed in FOSS. FOSS communities are self-managed, and rely on consensus to reach decisions. This study proposes a PAR framework specifically tailored to FOSS communities. We successfully applied the framework to implement a set of quality assurance interventions in the Robot Operating System community. The framework we proposed is composed of three components, interventions design, democratization, and execution. We believe that this process will work for other FOSS communities too. We have learned that changing a particular aspect of a FOSS community is arduous. To achieve success the change must rally the community around it for support and attract motivated volunteers to implement the interventions.

Marine Autonomous Exploration Using a Lidar and SLAM

2017 ◽  
Author(s):  
Einar S. Ueland ◽  
Roger Skjetne ◽  
Andreas R. Dahl
Keyword(s):  
Operating System ◽  
Control System ◽  
Open Source ◽  
State Of The Art ◽  
Small Scale ◽  
Motion Controller ◽  
Autonomous Exploration ◽  
Robot Operating System ◽  
Surface Vessel ◽  
Scale Surface

This paper presents the implementation of a 2D-lidar to a model-scale surface vessel, and the design of a control system that makes the vessel able to perform autonomous exploration of a small-scale marine environment by the use of the lidar and SLAM. This includes a presentation and discussion of experimental results. The completion of this system has involved the development of a suitable control system that merges exploration strategies, path planners, a motion controller, and a strategy for generating controller setpoints. The system was implemented on the Robot Operating System platform, which made it possible to utilize open-source algorithms for state of the art SLAM.

scholarly journals ROS based SLAM implementation for Autonomous navigation using Turtlebot

2020 ◽  
Vol 32 ◽  
pp. 01011
Author(s):  
Sumegh Pramod Thale ◽  
Mihir Mangesh Prabhu ◽  
Pranjali Vinod Thakur ◽  
Pratik Kadam
Keyword(s):  
Operating System ◽  
Open Source ◽  
Open Source Software ◽  
Autonomous Navigation ◽  
Robot Operating System

This paper presents the autonomous navigation of a robot using SLAM algorithm.The proposed work uses Robot Operating system as a framework.The robot is simulated in gazebo and Rviz used for data visualization.Gmapping package is used for mapping by utilizing laser and odometry data from various sensors.The Turtlebot provides open source software to perform navigation.

scholarly journals On the Improvement of ROS-Based Control for Teleoperated Yaskawa Robots

2021 ◽  
Vol 11 (16) ◽  
pp. 7190
Author(s):  
Sana Baklouti ◽  
Guillaume Gallot ◽  
Julien Viaud ◽  
Kevin Subrin
Keyword(s):  
Operating System ◽  
Response Time ◽  
Open Source ◽  
Trajectory Tracking ◽  
Control Mode ◽  
Velocity Control ◽  
Control Loop ◽  
Tracking Errors ◽  
Robot Operating System ◽  
Robotic Teleoperation

This paper deals with Yaskawa robots controlling the Robot Operating System (ROS) for teleoperation tasks. The integration of an open-source ROS interface based on standard Motoman packages into control loop leads to large trajectory tracking errors and latency, which are unsuitable for robotic teleoperation. An improved version of the standard ROS-based control is proposed by adding a new velocity control mode into the standard Motoman ROS driver. These two approaches are compared in terms of response time and tracking delay. Investigations applied on the Yaskawa GP8 robot while using the proposed improved ROS-based control confirmed trajectory tracking and latency improvements, which can achieve 43% with respect to standard control.

scholarly journals Multi-robot Control via Smart Phone and Navigation in Robot Operating System

2017 ◽  
Vol 8 (4) ◽  
pp. 37-46 ◽  
Author(s):  
Khadir BESSEGHIEUR ◽  
Wojciech KACZMAREK ◽  
Jarosław PANASIUK
Keyword(s):  
Operating System ◽  
Open Source ◽  
Autonomous Navigation ◽  
Robot Control ◽  
Smart Phone ◽  
Software Framework ◽  
Robot Operating System ◽  
Multi Robot

Robot Operating System (ROS) is an open source robot software framework which provides several libraries and tools to easily conduct different robot applications like autonomous navigation and robot teleoperation. Most of the available packages across the ROS community are addressed for controlling a single robot. In this paper, we aim to extend some packages so, they can be used in multi-robot applications on ROS. Mainly, the multi-robot autonomous navigation and multi-robot smart phone teleoperation are addressed in this work. After being extended and compiled, the new packages are assessed in some simulations and experiments with real robots.

USARSim/ROS: A Combined Framework for Robotic Control and Simulation

2012 ◽  
Author(s):  
Stephen Balakirsky ◽  
Zeid Kootbally
Keyword(s):  
Operating System ◽  
Mobile Robot ◽  
Open Source ◽  
Robot Control ◽  
Robotic Arm ◽  
Robotic Control ◽  
Robot Operating System ◽  
Open Source Framework ◽  
Robotic Arm Control ◽  
Full Utilization

The Robot Operating System (ROS) is steadily gaining popularity among robotics researchers as an open source framework for robot control. Additionally, the Unified System for Automation and Robot Simulation (USARSim) has already been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamlessly interface between ROS and USARSim. It provides for automatic configuration of ROS transforms and topics to allow for full utilization of the simulated hardware. The design of the new node, as well as examples of its use for mobile robot and robotic arm control are presented.

scholarly journals Desain dan Simulasi Sistem Kendali PID Pada AGV(Automated Guided Vehicle) Pengikut Garis

2019 ◽  
Vol 4 (2) ◽  
Author(s):  
Moch. Iskandar Riansyah
Keyword(s):  
Operating System ◽  
Open Source ◽  
Automated Guided Vehicle ◽  
Proportional Integral Derivative ◽  
Robot Operating System ◽  
Proportional Integral

Abstrak. Efektivitas dan efisiensi di bidang Logistik menjadi hal yang sangat penting. Salah satu solusi yang dilakukan untuk meningkatkan hal tersebut adalah bagaimana mengotomasi proses logistik dengan teknologi robotika yang disebut dengan AGV (Automated Guide Vehicle). Pada penelitian ini akan dikembangkan AGV yang dikendalikan dengan suatu algoritma agar dapat mengikuti lintasan berupa garis berwarna putih pada saat bertugas memindahkan material dari satu tempat ke tempat lain di dalam proses logistik. Sistem kendali yang digunakan adalah kendali PID (Proportional, Integral, Derivative), dengan dukungan perangkat keras berupa kamera RGB-D sebagai alat navigasi AGV untuk mendeteksi dan mengikuti lintasan. Sistem Kendali PID berfungsi untuk menjaga agar AGV tetap berada pada lintasan yang dibuat. Pengujian dilakukan dengan membandingkan nilai-nilai parameter baik kendali P, PD, dan PID agar mendapatkan parameter yang menghasilkan respon paling baik sehingga AGV mampu bergerak mengikuti lintasan garis berwarna putih. AGV  telah dirancang dan disimulasikan dalam sebuah perangkat lunak open source yang dikenal sebagai simulator Gazebo dan ROS (Robot Operating System). Proses navigasi menggunakan algoritma deteksi garis dengan tahapan melakukan filtering dan thresholding untuk menentukan titik pusat moment gambar lintasan garis putih. Dengan adanya titik pusat tersebut, AGV bergerak mengikuti pola lintasan dengan membandingkannya terhadap titik referensi yang telah ditentukanKata Kunci: Kendali PID, AGV (Automated Guided Vehicle), RGB-D, Simulator Gazebo, ROS(Robot Operating System)

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