UI_PRI Communication Concept Service Robotics Group Institute of System Engineering and Robotics Bulgarian Academy of Sciences

UI_PRI Communication Concept Introduction The primary goal of user interface communication layer is to provide flexible, reliable and network bandwidth optimized connectivity between the UI_PRI and ROS infrastructure of the Care-o-Bot robot.

UI_PRI Communication Concept Types of data: Mapping and Navigation Robot control & Robot Feedback (via the DM) User Feedback on exceptions Objects visualisation (General DB and Object DB) Video Streams (Robot Cameras Feed) 3D data and Point Cloud Data (TBD)

UI_PRI Communication Concept Communication Structure

UI_PRI Communication Concept Rosbridge Node that provides dynamic socket and web-socket based access to the full capabilities of ROS. Easy access from any remote device supporting sockets and JSON via single TCP port (default 9090). Current features and limitations: Can create ROS topics (with some restrictions of the data types) Can publish data to ROS topics; Can subscribe and read data from ROS topics; Can call any available ROS services; Cannot create own ROS services;

UI_PRI Communication Concept Mixed Reality Server Uses a single TCP port (default 8080) Streams the robot camera video feeds; Merges mapping data, robot position and objects into single consistent and time synchronized stream; Provides easy interface to other nodes to draw information on the map via a topic;

UI_PRI Communication Concept Robot task control and communication with the Decision Making (DM) component The user can execute any task via the DM in the UI_PRI /srs_control_task/goal The user will be notified about the result of the task /srs_control_task/result In case of exception/error in task execution the DM will ask the user to provide new map location, object or action /interface_cmd

UI_PRI Communication Concept Communication with the Databases and other ROS nodes. UI_PRI can fetch available object data form the General or Object databases via standard ROS communication. Using flexibility of the rosbridge additional communication with other nodes is possible

Test Webinterface A simple HTML5 webinterface was created in order to test communication path via the rosbridge and different ROS nodes functionality. Advantages: No compilation/installation required - as the javascript programming code is interpreted. This allows very rapid testing of different conditions Platform independent – can be tested on varius systems and network setups

Robot Mapping & Movement

Robot Navigation and Decission making (DM) component testing

UI_PRI Communication Concept Thank You! Presented by Georgi Angelov