servicerobotics Autonomous Mobile Service Robots SmartSoft MDSD Toolchain 7 May 2010 / SDIR V - Anchorage Andreas Steck and Christian Schlegel Computer Science Department University of Applied Sciences Ulm http://smart-robotics.sourceforge.net/ http://www.zafh-servicerobotik.de/ULM/index.php 7 May 2010 SDIR V / Steck, Schlegel
servicerobotics Autonomous Mobile Service Robots SmartSoft MDSD Toolchain 2010-05-07 SDIR 5 - Anchorage Example 1: Servo (RTAI-Linux) Example 2: Navigation Task Example 3: “Follow Me” - RoboCup@Home Example 4: Cleanup Table Scenario 7 May 2010 SDIR V / Steck, Schlegel
servicerobotics Autonomous Mobile Service Robots SmartSoft MDSD Toolchain • Eclipse • openArchitectureWare • PapyrusUML 7 May 2010 SDIR V / Steck, Schlegel
servicerobotics Autonomous Mobile Service Robots idea PIM PSM / PSI deployment runtime 7 May 2010 SDIR V / Steck, Schlegel
s e o v r v e SmartSoft MDSD Toolchain o r v e i e x w a m Example 1: Servo (RTAI-Linux) p l e idea PIM PSM / PSI deployment runtime • introduction into overall MDSD process via simple example • hard realtime in servo component 7 May 2010 SDIR V / Steck, Schlegel
s e o v r v e SmartSoft MDSD Toolchain o r v e i e x w a m Example 1: Servo (RTAI-Linux) p l e d idea e p l o y m e PIM n t d i a g PSM / PSI r a m deployment runtime SmartServo component SmartJoystickServer component - will be created in the following demo - preexisting component (COTS) 7 May 2010 SDIR V / Steck, Schlegel
s e o v r v e SmartSoft MDSD Toolchain o r v e i e x w a m Example 1: Servo (RTAI-Linux) p l e d idea e p l o y m e PIM n t d i a g PSM / PSI r a m deployment runtime SmartServo component SmartJoystickServer component - will be created in the following demo - preexisting component (COTS) 7 May 2010 SDIR V / Steck, Schlegel
c r c e o a m t SmartSoft MDSD Toolchain i p n i o g d n e a e a Example 1: Servo (RTAI-Linux) n t idea PIM PSM / PSI onTime deployment runtime 7 May 2010 SDIR V / Steck, Schlegel
c r c e o a m t SmartSoft MDSD Toolchain i p n P o g n I a M e Example 1: Servo (RTAI-Linux) n t idea P I M PIM PSM / PSI S S S m m m ( r a a a e r r r a t t t T T M l t a a deployment i u m s s t k k e e x ) runtime create PIM using the elements offered by the SmartSoft MDSD Toolchain palette 7 May 2010 SDIR V / Steck, Schlegel
c r c e o a m t SmartSoft MDSD Toolchain i p n P o g n I a M e Example 1: Servo (RTAI-Linux) n t idea P I M PIM PSM / PSI S S S m m m ( r a a a e r r r a t t t T T M l t a a deployment i u m s s t k k e e x ) runtime calculate servo port connected to control servo position smartJoystickServer s e u l a v d e g g a t 7 May 2010 SDIR V / Steck, Schlegel
c r c e g o a e m SmartSoft MDSD Toolchain t n i n p e o g r a n a t e e Example 1: Servo (RTAI-Linux) n P t S I idea Run code generator P I M PIM PSM / PSI S S S m m m ( r a a a e r r r a t t t T T M l t a a deployment i u m s s t k k e e x ) runtime 7 May 2010 SDIR V / Steck, Schlegel
c r c e g o a e m SmartSoft MDSD Toolchain t n i n p e o g r a n a t e e Example 1: Servo (RTAI-Linux) n P t S I idea P I M PIM PSM / PSI S S S m m m ( r a a a e r r r a t t t T T M l t a a deployment i u m s s t k k e e x ) runtime verification (e.g. QoS)+ transformation (is done by toolchain) executable component 7 May 2010 SDIR V / Steck, Schlegel
c r c e o a m i t SmartSoft MDSD Toolchain n i n u p t e o g s e g n a r r e a Example 1: Servo (RTAI-Linux) - n c t e t o d e idea P I M PIM PSM / PSI S S S m m m ( r a a a e r r r a t t t T T M l t a a deployment i u m s s t k k e e x ) runtime verification (e.g. QoS)+ transformation (is done by toolchain) executable component User Code MATLAB / Simulink RTAI-Lab OpenCV / Qt / Kavraki-Lab 7 May 2010 SDIR V / Steck, Schlegel
c r c g e o e a m n t SmartSoft MDSD Toolchain i e p n r o g a n t a e e Example 1: Servo (RTAI-Linux) n P t S M idea P I M PIM mapping PSM / PSI PIM elements to PSM elements (is done by toolchain) isRealtime = false isRealtime = false deployment isPeriodic = true isPeriodic = false runtime P P S S M I toolchain generates elements to emulate periodic tasks 7 May 2010 SDIR V / Steck, Schlegel
c r c g e o e a m n t SmartSoft MDSD Toolchain i e p n r o g a n t a e e Example 1: Servo (RTAI-Linux) n P t S M idea P I M PIM mapping PSM / PSI PIM elements to PSM elements (is done by toolchain) isRealtime = true isRealtime = false deployment isPeriodic = true isPeriodic = false runtime P S P I S M RTAI-Linux already provides periodic tasks 7 May 2010 SDIR V / Steck, Schlegel
c r c e g o a e m t SmartSoft MDSD Toolchain n i p n e g o r a n a t e e Example 1: Servo (RTAI-Linux) n P t S I idea PIM P S M PSM / PSI deployment runtime P S I generate PSI out of PSM elements (is done by toolchain) 7 May 2010 SDIR V / Steck, Schlegel
c r c e o a m i t SmartSoft MDSD Toolchain n i n u p t e o g s e g n a r r e a Example 1: Servo (RTAI-Linux) - n c t e t o d e P idea S I PIM PSM / PSI code added by developer deployment runtime code added by developer 7 May 2010 SDIR V / Steck, Schlegel
c r c e o a m i t SmartSoft MDSD Toolchain n i n u p t e o g s e g n a r r e a Example 1: Servo (RTAI-Linux) - n c t e t o d e P idea S I PIM wait for position update (joystickServer) PSM / PSI deployment runtime code added calculate servo by developer position (servoOnTime) 7 May 2010 SDIR V / Steck, Schlegel
c r c e o a m i t SmartSoft MDSD Toolchain n i n u p t e o g s e g n a r r e a Example 1: Servo (RTAI-Linux) - n c t e t o d e P idea S I PIM PSM / PSI deployment runtime code added by developer 7 May 2010 SDIR V / Steck, Schlegel
s e o v r v e SmartSoft MDSD Toolchain o r v e i e x w a m Example 1: Servo (RTAI-Linux) p l e d idea e p l o y m e PIM n t d i a g PSM / PSI r a m deployment runtime SmartServo component SmartJoystickServer component - created - preexisting component (COTS) 7 May 2010 SDIR V / Steck, Schlegel
d c e r p e l a SmartSoft MDSD Toolchain o t y e m e n Example 1: Servo (RTAI-Linux) t idea PIM PSM / PSI deployment runtime use these elements to create deployment 7 May 2010 SDIR V / Steck, Schlegel
d c e r p e l a SmartSoft MDSD Toolchain o t y e m e n Example 1: Servo (RTAI-Linux) t idea PIM PSM / PSI deployment deploy to target system and run startscript runtime 7 May 2010 SDIR V / Steck, Schlegel
n a o v v e i g SmartSoft MDSD Toolchain r a v t i e i o w n Example 2: Navigation Task t a s k • deployment of COTS components • simple replacement of components (P3DX/SICK ↔ Player/Stage) • robot drives to positions given by operator • collision avoidance, map building, path planning, etc. 7 May 2010 SDIR V / Steck, Schlegel
d n e a p v P l i g o SmartSoft MDSD Toolchain 3 y a D m t i o X e n / n Example 2: Navigation Task S t t I a C s K k 7 May 2010 SDIR V / Steck, Schlegel
d n e a p v P l i g o SmartSoft MDSD Toolchain l a y a y m t i e o e r n / n Example 2: Navigation Task S t t t a a s g k e 7 May 2010 SDIR V / Steck, Schlegel
n a o v v e i g SmartSoft MDSD Toolchain r a v t i e i o w n Example 2: Navigation Task t a s k Live Demo • how to create a deployment in SmartSoft MDSD Toolchain • define the initial wiring between the components • add platform specific details • add target platform settings • deploy scenario to target • run scenario in Player/Stage simulator watch on youtube: http://www.youtube.com/watch?v=4dZnDPgw3fA attached file: 2009-12-02-deploy-toolchain.mp4 7 May 2010 SDIR V / Steck, Schlegel
o v e SmartSoft MDSD Toolchain r v i e w Example 3: “Follow Me” - RoboCup@Home • deployment of COTS components • reuse for RoboCup@Home • robot follows a person through an unstructured environment 7 May 2010 SDIR V / Steck, Schlegel
d e p l o SmartSoft MDSD Toolchain y m e n Example 3: “Follow Me” - RoboCup@Home t 7 May 2010 SDIR V / Steck, Schlegel
o v e SmartSoft MDSD Toolchain r v i e w Example 3: “Follow Me” - RoboCup@Home watch on youtube: http://www.youtube.com/watch?v=-xvO_bbrb-I http://www.youtube.com/watch?v=grf-_-32oY0 attached files: 2009-09-10-followMe.mp4 2010-02-25-followMe.mp4 7 May 2010 SDIR V / Steck, Schlegel
o v e SmartSoft MDSD Toolchain r v i e w Example 4: Cleanup Table Scenario • deployment of COTS components • complex real world scenario in everyday environment • robot cleans up the table 7 May 2010 SDIR V / Steck, Schlegel
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