MORSE, the essential ingredient to bring your robot to real life - - PowerPoint PPT Presentation

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MORSE, the essential ingredient to bring your robot to real life - - PowerPoint PPT Presentation

Sep 14, 2022 160 likes •412 views

Introduction Development of the simulator Current results and future development MORSE, the essential ingredient to bring your robot to real life Gilberto Echeverr a gechever@laas.fr Laboratoire dAnalyse et dArchitecture des Syst`

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Introduction Development of the simulator Current results and future development

MORSE, the essential ingredient to bring your robot to real life

Gilberto Echeverr´ ıa gechever@laas.fr

Laboratoire d’Analyse et d’Architecture des Syst` emes Toulouse, France

April 15, 2011

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development

Review of MORSE

Project started in August 2009 General system robotics simulator Based on the Blender 3D software Modular architecture Middleware independent Multiple heterogeneous robot systems Communication and multi-agent simulation

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development

March 2010 version

Prototype version Restricted architecture Scripts stored inside Blender files Tightly linked with YARP No other middlewares usable

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Outline

1 Development of the simulator

General architecture Recent developments

2 Current results and future development

Practical applications of MORSE Dissemination Future work and conclusion

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Main architecture principles

Library of individual components Components consist of Python and Blender files Object oriented scripts for each component Robotic components are completely middleware independent Middlewares and modifiers are additional modules Completely extensible with plug-in methods Configurable binding of modules and middlewares

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Object class categories

CameraClass MorseObjectClass RobotClass SensorClass ActuatorClass V i d e

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a m e r a C l a s s S e m a n t i c C a m e r a C l a s s G P S C l a s s G y r

  • s

c

  • p

e C l a s s W a y p

  • i

n t C l a s s A T R V C l a s s J i d

  • C

l a s s S I C K C l a s s

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Middlewares and modifiers

Middleware modules provide bindings for MORSE components to communicate the data they use with the outside world Multiple middlewares can be used in the same simulation They encapsulate data in the format required Modifier modules alter the data of a sensor/actuator before it is exported outside the simulator. Simulated data is “perfect”, real data is imprecise and noisy Modify the reference frame, scale, units, etc. and noise

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Distributed control of the simulation

Robot software connects to simulator through middlewares MORSE can run on separate CPUs from the robot software A single instance of MORSE controls the simulation Distributed control of heterogeneous robots

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Switch to Blender 2.5x and Python 3.1

Code ported for compatibility with Python 3 Improved performance Faster image processing Better graphics display when using shaders Inverse kinematics for human models and arms Control panels configurable with Python

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

New sensors

Calibration of simulated camera properties Stereo cameras Semantic cameras Robot proximity sensors Sick and Velodyne range sensors Detection of human posture

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Control

Camera pant-tilt units Simple obstacle avoidance Correction of physical properties for robots and environment Switch cameras in simulation Implement internal clock in MORSE to measure elapsed time in simulation

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Middlewares support

YARP Pocolibs ROS (developed at TUM) Sockets Request manager (Sockets and YARP)

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development General architecture Recent developments

Release of version 0.3

Initial ROS support Large documentation effort, switch to restructured text format Add support for Blender 2.57 Add component services: synchronous or asynchronous commands Tracking of elapsed time in the simulation

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development Practical applications of MORSE Dissemination Future work and conclusion

Outline

1 Development of the simulator

General architecture Recent developments

2 Current results and future development

Practical applications of MORSE Dissemination Future work and conclusion

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development Practical applications of MORSE Dissemination Future work and conclusion

Current results

Data input and output tested with real software Complete experiments possible using existing robot software Currently being used to debug navigation and task planning in various projects MORSE active developers at LAAS (France), UK Leuven (Belgium) and TUM (Germany) Large number of interested users

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development Practical applications of MORSE Dissemination Future work and conclusion

Simulation examples

Single robot simulation

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development Practical applications of MORSE Dissemination Future work and conclusion

Projects using MORSE at LAAS

CHRIS: Human robot interaction ACTION: Multi robot navigation

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development Practical applications of MORSE Dissemination Future work and conclusion

Dissemination activities

MORSE training courses at LAAS and ONERA, Toulouse International events

Euron / Europ meeting (Mar 2010, San Sebastian, Spain) BlenderVen Simposium (Oct 2010, San Cristobal, Venezuela) Blender Conference (Oct 2010, Amsterdam, Netherlands) ICRA 2011 Paper accepted for the conference, Shanghai, May 2011

Hackathon (Jan 2011, Toulouse) Participation of researchers from ONERA, LAAS, Katholieke Universiteit Leuven (Belgium) and Technische Universit¨ at M¨ unchen (Germany)

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development Practical applications of MORSE Dissemination Future work and conclusion

Extending MORSE

Implementation of complex depth image and other sensors Dedicated GUI for scene creation and simulation control Full support for PR2 robot and the ROS middleware Simulation supervisor to manage custom events Virtual Hub (vHub) to simulate robot communications Distributed architecture for multiple simulation nodes.

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development Practical applications of MORSE Dissemination Future work and conclusion

Summary

MORSE can be used in various robotics developments thanks to a modular structure and middleware compatibility Support for multiple heterogeneous robots Recent developments allow for a more robust architecture Active development community

Gilberto Echeverr´ ıa MORSE robotics simulator

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Introduction Development of the simulator Current results and future development Practical applications of MORSE Dissemination Future work and conclusion

Contact, questions, more information:

MORSE is an Open Source project. Download, learn and get involved: Users mailing list: morse-users@laas.fr Developers mailing list: morse-dev@laas.fr Website: http://morse.openrobots.org THANKS FOR YOUR ATTENTION!!!

Gilberto Echeverr´ ıa MORSE robotics simulator