In my original post, I referenced the simplicity of the PR2, the robot I’m working with. Since robotics is one of the main technologies used in my thesis, I decided to expand on it by explaining how the PR2 works in a bit more detail.
I sketched a robot I made myself, in its simplest representation, as follows:
Conceptual sketch of a single computer ROS robot for computer vision purposes, own work.
Central in this image is a computer with an operating system. Thinking of ‘a computer’ and ‘an operating system’, is a good starting point if you would like to imagine what kind of robot you could make. According to the encyclopedia Britannica, a robot is “any automatically operated machine that replaces human effort, though it may not resemble human beings in appearance or perform functions in a human-like manner”. What would be the purpose of your machine, where would it operate, and what computers would be around by default (or are most likely to be around) in that setting? These days, it’s quite likely you’d come up with smartphones, tablets etc., and with stricter embedded systems (like the electronics in a car).
Below the computer, I grouped the input and output devices (I/O). Some devices can connect as is, or may be part of the computer, other might require some electronics to interface with. Just with that, a spare half an hour and some duct tape, you could make this 500$ telepresence robot:
In robotics research, this kind of setup has some problems. Consider for instance an autonomously driving car (recurring example, but it’s a good one to think about…). You could kinda make it from scratch like with the above robot, by taking the car, some computer, and just writing software to make the two work together. Considering the complexity of cars however, and the complex tasks we would want the autonomous car to perform, this software would end up being very complex and require many specialists in a large amount of engineering disciplines. Plus, at the end of it, such custom software might also be very hard to transfer to even another version of the same basic model of that car.
To me, this is where the Robot Operating System (ROS) comes in. To be clear, ROS is actually a meta-operating system. That means it is conceptually similar to an OS, but practically is not at all an OS (personally, I wish one of the creators’ wives or boyfriends or something would’ve told them that naming it an OS is simply a stupid idea). Most people just call it a robotics framework… There are many other robotics frameworks available, but ROS specifically is designed for large-scale, complex systems in a way that makes them easily expandable and transferable as well.
One of the nicer characteristics, is that it follows a peer-to-peer philosophy. The single computer in the first figure can actually just as well be 10 computers, all running the ROS framework, communicating over a network. The ROS framework would tie it all together, and these ten computers would be supporting a single virtual entity, which is what you would call ‘the robot’. This way, the ‘computer’ in a robot with ROS is not usually a single computer, but rather would look like this:
As this image suggests, in the end it’s all about the network setup. 🙂 As we all know, adding a computer to a network as just clicking the name of a WiFi, or plugging in an Ethernet cable. This remains true in this setup. You, practically, can just as easily add another computer to such a network, and that computer can be anything from a single computer being added to extend the robot virtually, to an entirely new robot consisting of 100 computers. This is also how I would probably solve a problem that was asked about in the comments for that telepresence robot: what if you’re on the phone with your girlfriend, thus following her with the robot, and she goes up the stairs? Well, just put another one of those cheap robots (meaning the hardware) up there. Put the Skype on one specific computer, and just switch between the webcams of the physical robots by transferring the video using network streaming. The virtual single entity that, in the end, is the robot, is not impeded by the physical limitations and can switch between the hardware at any time. Nor is there really a limit on what kind of hardware you’d be using.
Robotnik Automation Modular Arm
These two images and dozens more of examples of robots you can use with ROS, on their website.
I’ll leave you with one final image. Without knowing what these discs are doing, they might be controlled as completely individual robots, all at the same time as one robot, or they might be individual robots working together as an actual team (it looks like that is actually what they’re doing). At this point, I hope that makes sense, and that you see the possibilities as well. 🙂
A team of iRobot Create robots at the Human-Automation Systems Lab, Georgia Institute of Technology, Wikimedia.org