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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 service-
oriented 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 Microsofts 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:
Lego RCX + NXT
Parallax BOE Bot
fischertechnik
iRobot Create
KHR-1
MobileRobots Pioneer P3DX
Third party:
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
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CCR
Coordinating asynchronous tasks
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CCR
Coordinating asynchronous tasks
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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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MSRS used as glue for robot system
Example mobile manipulation
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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
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Synchronous Tasks - Good
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Why I Like It
.NET is great
CCR nice for asynchronous code
MySpace uses it
Its 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
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Competitors
ORCA (Toshiba)
Commercial Platform iRobot AWARE
Open source Platform CLARAty (NASA JPL)
Commercial or Free Saphira (Mobile Robotics)
Open Source & Free DROS
Open source Platform OpenJAUS
Open source & Free
Machine and robot
control libraries
OROCOS
Commercial Robot learning add-on Skilligent
Commercial Platform URBI
Commercial Simulation environment Webots
Open Source & Free Platform Player, Stage, Gazebo
Type Platform
Commercial Platform ERSP (Evolution Robotics)
Commercial or Free Platform Microsoft Robotics Studio
http://www.linuxdevices.com/articles/AT5739475111.html
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Resources
Microsoft Robotics
http://www.microsoft.com/robotics
The team Blog, product downloads and community-
support 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
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RoboChamps: http://robochamps.com