Developing An Autonomous App For Controlling Turtlebot Final Project Presentation Winter 2013/2014 Amin Asfour & Bshara Simaan Supervisor: Sharon Temtsin

Motivation  Developing an autonomous App for controlling Turtlebot that has a gripper attached to it

What Is Turtlebot ?  Turtlebot gives a new dimension of possibilities to your Kinect hacking: the ability to drive.  Turtlebot can explore your house on its own, build 3D pictures, bring you food, take panoramas, and more.  Turtlebot comes with an open-source SDK based on ROS to help you develop applications right out of the box.

What Is ROS ?  Open Source  Operating System Middleware

Why ROS ?  Code Reuse!  Scalability  Language independent  Community Support

Android Studio  Android Studio is a new Android development environment.  Similar to Eclipse with the ADT Plugin

Connecting it all together  Services  Topics

Our Application Main features

Overview Publishes Twist Messages Joystick Sends a request to open/close grip Receives Output Response from service Gripper Polls camera topic and displays the received data on screen Feed View

Design Problem  Early unstable stages of rosjava  Making Service Call to custom services not 100% supported

Solution Implementation  Early unstable stages of rosjava Stick with an old branch  Making Service Call to custom services not 100% supported Publisher/Subscriber Hack

Experience ROS Android Packages Topics/Services Ubuntu o “Linux is only free if your time has no value.” Jamie Zawinski

Demo Time!