simulação de robôs móveis e articulados: …osorio.wait4.org/vrep/simulacao-e-vrep-03.pdfsbia...
TRANSCRIPT
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Simulação de Robôs Móveis e Articulados: Aplicações e Prática
Fernando Santos Osório
Rafael Alceste Berri
34º JAI - Jornadas de Atualização em Informática
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Simulação de
Robôs Móveis e Articulados
Fernando Santos Osório
Rafael Alceste Berri
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Ambientes de Software:
Aplicações Robóticas
3
Middleware: Acesso aos Dispositivos de Hardware
Atuadores e Sensores => Ex. PLAYER/STAGE [2000-2010]
https://en.wikipedia.org/wiki/Player_Project
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SBIA 2010
# 4
Player Software2010
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SBIA 2010
# 5
Programa de controle
Camera
Laser
Sonar
Odometria
Motores
Programa do usuário
Aquisição de dados dos sensores
Comandos para os motores
PCI
USB
Serial
…
SerialCanbus…
Planejamento
Deslocamentodesejado
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SBIA 2010
# 6
Player
SerialCanbus…
Player
Camera
Laser
Sonar
Odometria
Motores
Programa do usuário
Aquisiçãode dadosdos sensores
Comandospara omotor
PCI
USB
Serial
…Planejamento
Deslocamentodesejado
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SBIA 2010
# 7
Abstração de hardware
Programado usuário
ServidorPlayer
BibliotecaCliente doPlayer
C/C++C#JavaTclPythonRubyLispOctave
HardwareDo Robô
SimuladorStage
SimuladorGazebo
ServidorPlayer
ServidorPlayer
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SBIA 2010
# 8
Player + Stage (simulação)
STAGE
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SBIA 2010
# 9
Modelo Cliente/Servidor
• Clientes podem se conectar a múltiplos servidores
• Servidores aceitam conexão de múltiplos clientes
• Diferentes programas/processos/threads podem processar
dados de diferentes sensores do mesmo servidor.
• Operação remota
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Ambientes de Software:
Aplicações Robóticas
10
Middleware: Acesso aos Dispositivos de Hardware
Atuadores e Sensores => Ex. PLAYER/STAGE
Sistema Operacional Robótico => ROS
ROS = Robot Operating System [2010-2016-...]
http://ros.org/http://wiki.ros.org/Distributions
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SBIA 2010
# 11
Software
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What is ROS?
12
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Exemplos...
Services as Distributed Nodes:- Publish- Subscribe- Messages
- Nodes &Packages
What is ROS?
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Exemplos...
Services as Distributed Nodes:- Publish- Subscribe- Messages
- Nodes &Packages
What is ROS?
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Exemplos...
Services as Distributed Nodes:- Publish- Subscribe- Messages
- Nodes &Packages
What is ROS?
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Arquitetura de Software
Speed Control
Brake Control
Steering Control
Adaptative
Cruise Control
Keep on
lane/road
Obstacle avoidance and
vehicles overtake
Selection of GoalsFusion of Goals
TelemetryWrite sync ‘edoriginal source
data Events Log Watchdog
GPS
IMU
Odometry
Frontal Laser
(Horizontal)
Down Laser
Compass
Camera
Stereo Camera
Borders Detection
Lane Detection
Navigable areas
estimation
Obstacle
Detection
Pose
Local Map
Road Detection
Projeto CaRINA I : R&D
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Arquitetura de Software
Projeto CaRINA II : R&D
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ROS + GAZEBO Simulation
https://www.youtube.com/user/rlklaser/videos
GAZEBOhttp://gazebosim.org/
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SBIA 2010
# 19
Software de Simulação
https://www.openrobots.org/wiki/morse/
MORSE
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Robotic Tools
Player-Stage (Old)
Gazebo – Gazebosim Robot Simulator
ROS – Robot Operating System
OpenCV – Open Source Computer Vision Library
PCL – Point Cloud Library
Morse - Modular OpenRobots Simulation Engine
Microsoft Robotics Studio, Webots, Aria, ... Matlab, Weka, SNNS/JavaNNS, FANN, GALib, Python, ...
TOOLS:
Morse
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Simulação com V-REP
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VREPFree Educational, Easy-of-Use, Multi-PlatformLarge set of Sensors, Actuators and Robots
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Simulador V-REP
FREE EDUCATIONAL
http://www.coppeliarobotics.com/
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http://www.coppeliarobotics.com/
SBIA 2010
# 23
Software V-REP
http://www.coppeliarobotics.com/
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Simulador V-REP
VREP is cross-platform, and allows the creation of portable, scalable and easy maintainable content:
a single portable file can contain a fully functional model (or scene), including control code.
6 Programming Approaches
LUA
C / C++
LUA Scripting
Multiple Robot Models:
Mobile Robots
Humanoids
Manipulators
Aerial
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V-REP – Janela de aplicação
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V-REP – Componentes de tela
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V-REP – Barra de
ferramentas 1
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V-REP – Barra de
ferramentas 2
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V-REP – Robô, Componentes,
Scripts LUA
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V-REP – Principais elementos
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Modelo - subelemento da cena (extensão “ttm”).
Cena - contém toda a informação necessária para a reabertura e simulação (todo o ambiente, script principal e pontos de vistas em um “ttt”).
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V-REP – Ambiente
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• Alguns parâmetros:
– cores de fundo,
– parâmetros para inclusão de
nevoeiro,
– luz ambiente,
– informação para a criação da cena,
– etc.
• Via menu: Tools / Environment
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V-REP – Entidades
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• Tipos: objeto ou uma coleção de objetos;
• Propriedades especiais de Objetos e Coleções:
– Collidable,
– Measurable (distância entre objetos),
– Detectable (sensores de proximidade),
– Cuttable,
– Renderable (visto por sensores de visão).
• Propriedades especiais somente de objetos:
– Viewable (objetos transparentes ou exibem imagem, ex: TV).
• Acessível em Tools / Scene object properties.
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V-REP – Tipos de objetos
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Tipos de Objetos:
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V-REP – Configuração da
Simulação
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• Disponível em Simulation / Simulation Settings.
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Simulador V-REP
VREP Interface
Botões de controle da Câmera Virtual 3D: Posicionamento de Observação da Cena
Principais opções: Deslocar (Pan), Girar (Rotação ao Redor dos Elementos), Zoom (Avança/Recua)
Botões de controle do Objeto Virtual
Principais opções:
Selecionar Objeto, Mover o Objeto (pode indicar/selecionar os eixos: X, Y ou Z de deslocamento),
Girar o objeto (pode selecionar os eixos: X, Y ou Z de rotação)
Botões de controle da Simulação Virtual:
Play, Pause, Stop => Inicío/Fim Simulação
Acelerar ou ir mais devagar no “passo” de simulação
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Simulador V-REP
VREP is cross-platform, and allows the creation of portable, scalable and easy maintainable content:
a single portable file can contain a fully functional model (or scene), including control code.
6 Programming Approaches
LUA
C / C++
LUA Scripting
Multiple Robot Models:
Mobile Robots
Humanoids
Manipulators
Aerial
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Simulador V-REP
Nativo: LUA Scripts API: C/C++, Python, Java Client/Server, ROS, MATLAB
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PROGRAMAÇÃO
USANDO O V-REP
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Site: http://www.lrm.icmc.usp.br/
Vídeos: http://youtube.com/lrmicmc
https://www.youtube.com/user/lrmicmc/videos
Laboratório de Robótica Móvel – ICMC/USP
Contato:Prof. Fernando OsórioProf. Denis Wolf http://www.icmc.usp.br/~fosorioE-mail: { fosorio, denis } @icmc.usp.br