Robotics System Toolbox

Transcription

1 Developing Robotics Applications with MATLAB, Simulink: Introducing the Robotics System Toolbox 2016 MathWorks, Inc. 1

2 What Are You Doing with Robotics? Build Robots 2

3 Using MATLAB and Simulink for Building Robots Input + - Controller Plant Output Festo Bionic Arm DLR Humanoid Robot Recorded Webinar: How a Differential Equation Becomes a Robot 3

4 Using MATLAB and Simulink for Building Robots Demo High number of DoF Nonlinearity Multiple Layers of Control Multiple States or Modes 4

5 What Are You Doing with Robotics? Build Robots Teach/Learn Robotics With Low Cost hardware Arduino Raspberry Pi Lego 5

6 Robotics with Low Cost Hardware: Build Robots with Low-Cost Hardware? No need C/C++/Python Drivers Provided Hardware Support Package Visit: Free LAB workbooks 6

7 Robotics with Low Cost Hardware: 7

8 What Are You Doing with Robotics? Build Robots Teach/Learn Robotics With More powerful hardware Teach/Learn Robotics With Low Cost hardware? Arduino Raspberry Pi Lego 8

9 What Are You Doing with Robotics? Build Robots Teach/Learn Robotics With More powerful hardware Use Powerful Robots Running ROS? ROS/Gazebo Interface ROS Node Generation Comprehensive Algorithms Teach/Learn Robotics With Low Cost hardware Robotics System Toolbox Arduino Raspberry Pi Lego 9

10 What do we want to do today? 10

11 Agenda 1. MATLAB-ROS Interface 2. Robotics Algorithms Robotics System Toolbox 3. Simulink-ROS Interface 11

12 What Can You Do with Robotics System Toolbox?? Robot 12

13 Data Exchange Paradigms Topics ROS Node(s) Publish /topic Subscribe ROS Node(s) Services ROS Node Service Server Request Response ROS Node(s) Clients 13

14 Developing Robotic Applications with ROS T6 Global Planner Local Planner MATLAB Main CPU Simulink Ethernet Map server Kinematics & Control NODE NODE NODE NODE NODE Robot (CPU 2) Image processing NODE NODE NODE Localization & Mapping NODE NODE NODE Sensors NODE Actuators 14

15 The essentials: >> rosshutdown( ) >> rosinit( ) ROS communication Shutdown or start global MATLAB node Connect to existing ROS master >> rosnode( ) >> rostopic( ) >> rosmsg( ) What s there? What can we communicate about? >> rossubscriber( ) >> receive( ) Listening >> rospublisher( ) >> rosmessage( ) >> send( ) Broadcasting >> robotics.ros.node ( ) Connect to multiple ROS masters 15

16 MATLAB ROS connectivity: Demo 1. The MATLAB ROS interface part 1 Practice on a MATLAB Robotic simulator 2. The MATLAB ROS interface part 2 Practice on a GAZEBO Robotic simulator (Turtlebot) A teaser on algorithm development 3. Processing ROS bag files 16

17 Agenda 1. MATLAB-ROS Interface 2. Robotics Algorithms 3. Simulink-ROS Interface Demo 17

18 MATLAB Algorithm development : Demo 1. Path planning and Pure pursuit controller part 1 Practice on a MATLAB Robotic simulator 2. Path planning and Pure pursuit controller part 2 Practice on a GAZEBO Robotic simulator 18

19 Overview: Robotics Algorithms Test it with Gazebo or other Simulator through MATLAB-ROS Interface 19

20 Overview: Robotics Algorithms Test it with a physical ROS-Enabled robot Turtlebot_IP = XXX.XXX.XXX.XXX' rosinit(turtlebot_ip, 'NodeHost', my_laptop_ip,... 'NodeName', my_name_for_global_matlab_node); 20

21 Agenda 1. MATLAB-ROS Interface 2. Robotics Algorithms 3. Simulink-ROS Interface 21

22 Generate a ROS Node from a Simulink Model Connect Simulink Model to a ROS network to simulate a Goal tracking algorithm 22

23 Simulink Algorithm development and DEPLOYMENT : Demo Prototype algorithm in Simulink Test algorithm with a ROS-enabled Simulator or Robot Generate a standalone ROS node from Simulink 23

24 DOC How do I create custom messages? 24

25 DOC How do I access the tf Transformation tree in ROS? 25

26 Key Capabilities Demonstrated MATLAB-ROS Interface Create a ROS nodes, publishers, subscribers, services Design and test robotics algorithms on a robot simulator such as Gazebo Test robotics algorithms on a physical robot Import rosbag log files Simulink-ROS Interface Publish and Subscribe from Simulink Models ROS node generation from Simulink models Algorithms Map representation with Binary Occupancy Grids Path Planning with Probabilistic Roadmap Path Tracking with Pure Pursuit Controller Coordinate System Transformations Robotics System Toolbox 26

27 Thank You 27