程序代写代做代考 algorithm python Java c++ CMP3103M AMR 2 – Programming.key – INTERVIEW&CODEHELP

CMP3103M AMR 2 – Programming.key

 
CMP3103M AMR

Dr. Marc Hanheide

SYLLABUS
‣ Introduction to Robotics

‣ Robot Programming

‣ Robot Vision

‣ Robot Control

‣ Robot Behaviours

‣ Control Architectures

‣ Navigation Strategies

‣ Map Building

Disclaimer:
These slides are not self-

contained, this is going to be an
interactive lecture

ASSESSMENT

‣ Programming in Python & ROS

‣ implement an object search behaviour in simulation

‣ give a 5 minutes (max! You’ll be cut short of you go over) on
your implementation

‣ read the Brief & CRG!

MOBILE ROBOT COMPONENTS

Mobile
Robot Body

Actuators

wheels and
motors, gripper

Sensors

cameras, sonars,
laser Processing

Unit
on-board PC

Software/
Commands

C++ library

PROCESSING UNIT
‣ On-board

‣ fast responses

‣ embodied, processing power limited by the physical
size of a robot

‣ Off-board

‣ remote computer(s) – significant processing power

‣ problems with communication, data transfer and
synchronisation

‣ Hybrid architecture

‣ on board for low-level tasks

‣ PC for higher-level tasks

ROBOT SOFTWARE

‣ Hardware drivers, (real-time) operating system

‣ Audio/video encoders

‣ Command interface, firmware

‣ Sensor/Image processing library

‣ Software components implementing AI, navigation, decision
making

‣ Simulator

HOW TO TALK TO A ROBOT
‣ We need to be able to:

‣ send motor/actuator commands

‣ read and process data from sensors

‣ in some robots there is an abstraction layer featuring a shared domain-specific
command language to access all sensors and actuators (highly integrated)

‣ implemented inside the robot

‣ can be messages sent through serial port, Ethernet (Wifi)

‣ Our Turtlebots are more modular, different sensors talk via USB

‣ the have their dedicated ROS driver nodes to talk to us

‣ HENCE, we need to able to communicate!

MIDDLEWARE?
Middleware supports and simplifies complex distributed applications.

ROBOTIC MIDDLEWARES
‣ Support for different robots, platforms, unified interface, plug-

ins/modules (e.g. navigation, object recognition), simulator, etc.
‣ Robot Operating System (ROS)  

(http://www.ros.org/wiki/rovio)
‣ Microsoft Robotics  

Developer Studio  
for Windows

‣ OROCOS
‣ YARP
‣ RSB
‣ …

http://www.ros.org/wiki/rovio

ROS

‣ ROS is a communication middleware with a huge library of
state of the art algorithms being freely available

‣ ROS encapsulates functionality into individual nodes

‣ Nodes communicate via data streams

‣ nodes implement callback (data push)

‣ C++, java, Python (and others more) supported

IMPLEMENTING TASKS/
BEHAVIOURS

‣ Scripts

‣ A pre-programmed sequence of commands

‣ Continuous operation (robot control)

‣ Sense

‣ read sensor data

‣ Think

‣ process data and make decisions

‣ Act

‣ execute actions (send movement commands)

environment

think

sense

act

SENSE – (THINK) – ACT

‣ Two Options

‣ Synchronous:

‣ like a while loop: 
while (true)  
{  
robot.sense();  
robot.think();  
robot.act();  
}

‣ Asynchronous:

‣ different threads with shared (and synchronised) memory access

Easier

basically how ROS works

data pull

data callbacks

AND NOW FOR SOME REAL
CODING IN ROS

STOLEN ADOPTED INTRO
ABOUT ROS

‣ roscore

‣ rosnode list

‣ rostopic list

‣ rosservice list

‣ rqt_graph

‣ (roslaunch ~/test.launch)

always use [Tab] and “-h”
when working on the

command line!

DATA TYPES

‣ Let’s have a look

‣ useful tools:

‣ rostopic pub

‣ rostopic echo

‣ rostopic info

‣ rosmsg

‣ rossrv

message type define what is
being exchanged between

nodes

PARAMS

‣ Let’s have a look

‣ useful tools:

‣ rosparam list

‣ rosparam set

‣ rosparam get

params are a little advanced
but important to configure

other components

A SIMPLE COMMUNICATION

‣ Let’s implement a simple communication A->B  
(without programming, just using rostopic)

time for a
break?

TIME FOR SOME PYTHON

A FRESH START

• create you own catkin workspace:

• mkdir catkin_ws

• cd catkin_ws

• mkdir src

• cd src

• catkin_init_workspace

http://wiki.ros.org/catkin/Tutorials/create_a_workspace

A FRESH START

• create your own package:

• catkin_create_pkg [-h]

• cd ..

• catkin_make

• source devel/setup.bash

http://wiki.ros.org/ROS/Tutorials/CreatingPackage

HELP

http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29

COMPUTER VISION LIBRARIES

‣ OpenCV

‣ ‘The’ Computer Vision Library – C++, Python, multiplatform

‣ rich functionality, well tested, used in many systems, lots of
examples

RECOMMENDED READING
‣ Biggs, G. and MacDonald, B. A Survey of Robot Programming

Systems, 2003
‣ Programming Robots with ROS (Morgan Quigley, Brian Gerkey

& And William D. Smart.) (ebook on reading list)
‣ The ROS tutorials!!!

‣ Resources:
‣ http://answers.ros.org
‣ http://wiki.ros.org/ROS/Tutorials
‣ https://github.com/LCAS/teaching/wiki/CMP3641M

http://answers.ros.org
http://wiki.ros.org/ROS/Tutorials
https://github.com/LCAS/teaching/wiki/CMP3641M

THANK YOU FOR LISTENING!

程序代写代做代考 algorithm python Java c++ CMP3103M AMR 2 – Programming.key

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