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

2. 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.

3. 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)

4. UI_PRI Communication Concept Communication Structure

5. 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;

6. 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;

7. 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

8. 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

9. 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

10. Robot Mapping & Movement

11. Robot Navigation and Decission making (DM) component testing

12. UI_PRI Communication Concept Thank You! Presented by Georgi Angelov