Programming and Simulating Robots with Microsoft Robotics Studio
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Programming and Simulating Robots with Microsoft Robotics Studio
1 of 34. Programming and Simulating Robots with. Microsoft Robotics Studio.
Ben Axelrod http://www.benaxelrod.com http://www.corobot.net ...
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Programming and Simulating Robots with Microsoft Robotics Studio Ben Axelrod http://www.benaxelrod.com http://www.corobot.net
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Agenda • What is it? – In a nutshell – “Supported” hardware – Simulator – Architecture
• • • • •
Mobile Manipulator example Look at some code Running MSRS Downsides Demo (if time)
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In a Nutshell… • A distributed asynchronous serviceoriented architecture (for robotics) • CCR (Concurrency and Coordination Runtime) – Message oriented programming model
• DSS (Decentralized System Services) – service oriented application model
• Built on .NET • A physics based simulator • A visual programming language
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Implications of .NET • .NET is Microsoft’s new development environment • Choice of languages: C#, VB, C++, Python… • Requires: Windows XP, CE, Vista • Most robots will be “tethered”
eBox-2300
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“Supported” Hardware • Included with MSRS: – – – – – –
CoroWare CoroBot Parallax Scribbler Segway RMP Robotics Connection Traxster + Stinger Princeton PAVE UGC car
• Sensors: – – – – –
SICK LRF Webcams IP Webcams Phidgets MS GPS
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Simulator
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Simulator
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Simulator
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What is a service • Separate state and behavior
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Message transport
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CCR • Coordinating asynchronous tasks
Task ve Recei
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CCR • Coordinating asynchronous tasks Task Join
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CCR • Coordinating asynchronous tasks Task
e Choic Task
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Example – mobile manipulation • GT Class Project • KUKA KR-5 sixx R650 • Schunk PG-70 parallel gripper • Segway RMP 200 • SICK LMS 291 • Objective: Serve coffee
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Example – mobile manipulation • MSRS used as ‘glue’ for robot system
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Example – mobile manipulation
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Standard Hierarchy
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Code Example • Custom line sensor • We want to build a MSRS service that: – Has some simple state – Supports subscriptions – Can be calibrated with a special message
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Code • Contract and class
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Code • Main port and message definitions
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Code
• Class
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Code • Message handlers part 1
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Code • Message handlers part 2
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Code • Callback
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Usage • Manifest
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Usage • Contract directory
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Usage • XML state
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Synchronous Tasks – Bad
Synchronous Tasks - Good
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Why I Like It • .NET is great • CCR nice for asynchronous code – MySpace uses it
• It’s Microsoft – MS on a robot is laughable • Kuka uses it
– This is the direction robotics is going • One home computer controlling all robots • Everything now is off-board computation
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Downsides • Steep learning curve • Lots of boiler-plate code • Can start services in many ways – Partnerships break down with large numbers
• Requires a fairly fast computer – I want to put code on a Gumstix
• • • • •
Can be difficult to debug sometimes No contract inheritance Users must faithfully implement contracts Lots of pre-existing robotics code for Linux No distinction between “in” and “out” messages
Resources • Microsoft Robotics – http://www.microsoft.com/robotics – The team Blog, product downloads and communitysupport newsgroup are linked from this main page – Wiki: http://channel9.msdn.microsoft.com
• CoroWare, Inc. – Corporate: http://www.coroware.com – ClassPack demo: http://support.coroware.com/forums Programming Microsoft Robotics Studio by Sara Morgan Professional Microsoft Robotics Studio By Kyle Johns, Trevor Taylor
