2. CLOUD ROBOTICS
WITH
ROS ( ROBOTIC OPERATING SYSTEM )
Titto Thomas
Roll No.47
S7 A
College of Engineering, Chengannur
3. Robotics
Robots - mechanical intelligent
agent which can perform tasks on its own, or with
guidance
They can be industrial, mobile, service ,
humanoids..etc
Touches every instant of life in one way or the other
Robotics - deals with design, construction, operation,
structural disposition, manufacture and application
of robots
Dynamically growing industry and its in need of
alternative and new ways
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4. Where do we stand ?
Require great computational
capabilities to be able to
process – in real time – images,
faces, voice, sounds, obstacles
many more
Necessary to have a very
powerful – and high energy
consuming – processor and
peripherals on board.
Necessary to carry huge and
heavy batteries as well
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5. ROS (Robotic Operating System )
Software framework for robot software
development
developed in 2007 under the name
switchyard by the Stanford Artificial
Intelligence Laboratory in support of the
STAIR
Based on graph architecture & is geared
toward a Unix-like system
Doesn't have to ”reinvent the wheel ”
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6. ROS is..
Peer-to-peer
Multi-lingual
Tools-based
Thin
Free and Open-
Source
Exponentially growing
Used in many applications including Willow
Garage’s PR2, Aldebaran’s Nao and Shadow’s
robotic hand
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7. Cloud Computing
Using multiple
server
computers via a
digital network,
as though they
were one
computer
the services available are considered part of cloud
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8. Cloud Provides..
Device and location independence
Significant workload shift from the local
computers
Cost is reduced as capital expenditure is
converted to operational expenditure
Sharing of resources and costs across a large pool
of users
Highly reliability and efficiency
Improved security due to centralization of data
Easiness in supporting and improving a software
Scalable - dynamic provisioning of resources
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9. ROS in the Cloud
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10. High Level Overview
Server
Computer Cluster
jobs & sensor
data
Cloud Computing Framework
Ros ROS Messages
Messages over http
Public Cloud
ROS Framework
Private (Internet)
Cloud
(Intranet) ROS Messages
over http
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11. Architechture In Layers
Storage / Compute Nodes
Distributed File System and
necessary services
Cloud Framework
Master & Subscriber Nodes
ROS Nodes
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12. ROS Messaging
Example
Publication Topic Subscription
Node Node
Service Invocation
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13. Cloud Enabled Robots Can..
Understand
Perceive Share
& REACT
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14. Why should we ??
Off the shelf hardware
means affordable robots
Lower the barrier to
entry for robotics
Scalable CPU, memory,
and storage
shared knowledge
database
hardware upgrades are
invisible & hassle-free
Longer battery life
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15. lighter, easier-to-
maintain hardware (akin
to desktop PC vs. a thin-
client “netbook”)
Robot experiences /
history / behavior
outcomes / learned skills
can all be published or
data mined
Expanding the
knowledge beyond
“Physical Body”
Cheaper , Lighter & Smarter
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16. Needs Improvisation
Cloud Computing is still taking baby steps, so will
have to wait for the platforms to develop
cloud-based applications can get slow or simply
become unavailable leaving the robot “Brainless”
Tasks that involve real-time execution require
onboard processing
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17. Implementations till now..
● RoboEarth - to develop a “World Wide Web for robots”
● ASORO’s Cloud Computing Infrastructure
● Google’s initiative with
Android
● Nao Humanoid Robots
● Google’s street View Robot
● DAviCi framework
● Project Phondox
● Turtlebot from google
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