Robot Operating Systen (ROS) on Hadoop (HDFS)

•

5 recomendaciones•1,655 vistas

https://github.com/valtech/ros_hadoop - One PC/NAS can have a hard time with large Rosbag files. Hadoop provides distributed storage and parallel processing. InputFormat allows to process Rosbag files via Hadoop interfaces.

Tecnología

1
Robot Operating System (ROS)
on Hadoop
Working with large Rosbag files on HDFS

Working with large Rosbag files
One PC/NAS can have a hard
time with large Rosbag files
Hadoop provides distributed
storage and parallel processing
Hadoop InputFormat allows to
process Rosbag files via Hadoop
interfaces:
https://github.com/valtech/ros_hadoop
2

Hadoop InputFormat for ROS
Benefits
+ Analyse ROS data with 3rd-party tools like Spark via Hadoop
interface
+ Run parallel jobs on ROS data in Hadoop with MapReduce
+ Save time because data conversion not needed
+ Save storage because data duplication not needed
3

Search & Analysis
+ Hadoop InputFormat and
Record Reader for Rosbag
+ Process Rosbag with Spark,
Yarn, MapReduce, Hadoop
Streaming API, …
+ Spark RDD are cached and
optimized for analysis
Large
Rosbag
Processing
Engine
Computer
Network
Storage
Advanced
Analytics
RDD
Record
Reader
RDD
DataFrame, DataSet
SQL, Spark APIs
NumPy
Ros
Msg

Training & Evaluation
+ TensorFlow Record Reader
+ Protocol Buffers to serialize
records
+ Save time because data
conversion not needed
+ Save storage because data
duplication not needed
Training
Engine
Machine
Learning
Computer
Network
Storage
Record
Reader
Ros
msg
Large
Rosbag

Re-Simulation & Testing
+ Use Spark for preprocessing,
transformation, cleansing,
aggregation, time window
selection before publish to ROS
topics
+ Use Re-Simulation framework
of choice to subscribe to the
ROS topics
Engine
Re-Simulation
with framework
of choice
Computer
Network
Storage
Ros
topic
core
subscribe
publish
Large
Rosbag

Time Travel
fold(left)
t
fold(right)
reduce/
shuffle

Demo: To test locally use the Dockerfile
1.
> git clone https://github.com/valtech/ros_hadoop
2.
> docker build -t ros_hadoop:latest -f Dockerfile .
3.
> docker run -it -v $(pwd):/root/ros_hadoop -p
8888:8888 ros_hadoop
+ HDFS 2.8.0
+ Spark on Yarn 2.2.0
+ ROS core Kinetic Kame
+ Tensorflow 1.0.1
+ Keras 2.0.3
+ Python 2.7.12 depends on
ROS, Scala 2.11, Java 1.8

Hadoop InputFormat for ROS
Apache License 2.0
Download
https://github.com/valtech/ros_hadoop

thank you
Jan Wiegelmann
+49 (0)151/14 26 56 44
jan.wiegelmann@valtech.de

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Robot Operating Systen (ROS) on Hadoop (HDFS)

1. 1 Robot Operating System (ROS) on Hadoop Working with large Rosbag files on HDFS

2. Working with large Rosbag files One PC/NAS can have a hard time with large Rosbag files Hadoop provides distributed storage and parallel processing Hadoop InputFormat allows to process Rosbag files via Hadoop interfaces: https://github.com/valtech/ros_hadoop 2

3. Hadoop InputFormat for ROS Benefits + Analyse ROS data with 3rd-party tools like Spark via Hadoop interface + Run parallel jobs on ROS data in Hadoop with MapReduce + Save time because data conversion not needed + Save storage because data duplication not needed 3

4. Search & Analysis + Hadoop InputFormat and Record Reader for Rosbag + Process Rosbag with Spark, Yarn, MapReduce, Hadoop Streaming API, … + Spark RDD are cached and optimized for analysis Large Rosbag Processing Engine Computer Network Storage Advanced Analytics RDD Record Reader RDD DataFrame, DataSet SQL, Spark APIs NumPy Ros Msg

5. Training & Evaluation + TensorFlow Record Reader + Protocol Buffers to serialize records + Save time because data conversion not needed + Save storage because data duplication not needed Training Engine Machine Learning Computer Network Storage Record Reader Ros msg Large Rosbag

6. Re-Simulation & Testing + Use Spark for preprocessing, transformation, cleansing, aggregation, time window selection before publish to ROS topics + Use Re-Simulation framework of choice to subscribe to the ROS topics Engine Re-Simulation with framework of choice Computer Network Storage Ros topic core subscribe publish Large Rosbag

7. Time Travel fold(left) t fold(right) reduce/ shuffle

8. Demo: To test locally use the Dockerfile 1. > git clone https://github.com/valtech/ros_hadoop 2. > docker build -t ros_hadoop:latest -f Dockerfile . 3. > docker run -it -v $(pwd):/root/ros_hadoop -p 8888:8888 ros_hadoop + HDFS 2.8.0 + Spark on Yarn 2.2.0 + ROS core Kinetic Kame + Tensorflow 1.0.1 + Keras 2.0.3 + Python 2.7.12 depends on ROS, Scala 2.11, Java 1.8

9. Hadoop InputFormat for ROS Apache License 2.0 Download https://github.com/valtech/ros_hadoop

10. thank you Jan Wiegelmann +49 (0)151/14 26 56 44 jan.wiegelmann@valtech.de

Robot Operating Systen (ROS) on Hadoop (HDFS)

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