In this tutorial we will make basic tests to assert that both the robulab robot and the laptop are configured correctly. We will consider as well configured if we can start a PhaROS node that handle robulab robot, so we can publish motion messages through rostopic pub command and make it to move.

Setup

  1. Robulab charged and switched on.
  2. Laptop with Ubuntu 14.04
  3. ROS Indigo installed on laptop (Read: How to install ROS Indigo in Ubuntu 14.04)
  4. Your .bashrc file you should look like this:

    source /opt/ros/indigo/setup.bash
    source ~/PhaROS-ws/devel/setup.bash
    
    ROS_HOSTNAME=localhost    
    ROS_MASTER_URI=http://localhost:11311
    
  5. PhaROS installed (Read: How to Install PhaROS).

  6. Robot should be unplugged and free to move.

Ok, lets test it

  1. Create a package for testing the robulab. In a terminal run (this could take a couple of minutes):

    $ pharos create testrobulab
    
  2. Open the Pharo image of your PhaROS package by running this:

    $ rosrun testrobulab edit
    
  3. Install the required software to controll Robulab by executing this script.

    Gofer it  
        smalltalkhubUser: 'CAR' 
        project: 'Robulab'; 
        configurationOf: 'PureROS'; 
        load.
    ((Smalltalk at: #ConfigurationOfPureROS) project version: #bleedingEdge) load: {'kompai'}.
    
  4. Connect your laptop to UBNT wireless network.

  5. Start ROS by running roscore in a terminal.

    $ roscore
    

    If everything goes fine it should print something like this:

    ...
    started roslaunch server http://achao:56856/
    ros_comm version 1.11.3
    
    SUMMARY
    ========
    
    PARAMETERS
     * /rosdistro: <...>
     * /rosversion: <...>
    
    NODES
    
    auto-starting new master
    process[master]: started with pid [4073]
    ROS_MASTER_URI=http://achao:11311/
    
    setting /run_id to 6e36ef46-005d-11e4-ac41-b8ee65bb26b0
    process[rosout-1]: started with pid [4086]
    started core service [/rosout]
    

    Where achao is the hostname of the laptop I am using.

  6. Be sure that the Pharo image has not http proxy set, or if it has, they are coherent with your network configuration. To deactivate it you can just execute this in a workspace:

    NetworkSystemSettings useHTTPProxy: false
    
  7. Open a workspace and execute:

    PureROSKompai new scriptKompai1
    

    change it to scriptKompai2 if you are using Robulab2. This will create a PhaROS node that you can check by executing:

    $ rosnode list
    

    and you would see

    /PharoHandle-1404143614
    /rosout
    
  8. Let’s check the available topics to publish, in a terminal execute:

    $ rostopic list
    

    and the list of topics should be:

    /command_velocity
    /initialpose
    /kompai/scan
    /kompai2/pose
    /kompai2/trajectory/differential
    /orientation
    /rosout
    /rosout_agg
    
  9. Let’s publish some motion message in /command_velocity. For that lets use the command pub for rostopic which has the following structure: rostopic pub <topic id> <topic type> <message> command. Press [TAB] key to autocomplete: topic id, topic type and get message template.

    $ rostopic pub /command_velocity geometry_msgs/Twist "linear:
      x: 0.0
      y: 0.0
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: 0.5"   
    

And the robot will start to rotate. If so you are done :)

deprecated

cf. https://github.com/CARMinesDouai/pharos/wiki/Install-PhaROS

To install:

  1. Install Ubuntu 14.04 64bits
  2. Install curl
    sudo apt-get install curl
  3. Install ROS Indigo
  4. Install PhaROS
    curl http://car.mines-douai.fr/scripts/PhaROS | bash
  5. Test the installation
    source ~/.bashrc
    pharos create myfirstpharospackage
    rosrun myfirstpharospackage edit
  6. Enjoy!

To uninstall (why would you need that? ;-)):

~/PhaROS-bin/pharos_uninstall

Jetstorm is the library to make Pharo communicate with the Lego Mindstorm Ev3. We provide the technical report. It explains the protocol and the architecture of the library.

If you want to cite it, here is the lines to copy and paste in bibtex:

@techreport{Lava14a,
   Author = {Jannik Laval},
   Institution = {URIA -- Ecole des Mines de Douai},
   Title = {JetStorm - A communication protocol between Pharo and Lego Mindstorms},
   Url = {www.jannik-laval.eu/assets/files/papers/Lava14a-JetStorm.pdf},
   Year = {2014}
}

With the evolution of JetStorm, the Technical Report will be improved.

For the 2014 edition of the CAR workshop (Control Architectures for Robots) we’re glad to have Dr. Florian Röhrbein as our invited speaker. His talk will be entitled: ”The Human Brain Project and its Neurorobotics Platform“. You’ll find below the abstract of this talk as well as a short bio of Dr. Röhrbein.

ABSTRACT

The HBP is one of two European Flagship projects dedicated to long-term basic research with a planned funding of 1 billion € over 10 years. The ultimate goal is to gain profound insights into brain functions, develop new treatments for brain diseases and build entirely new computing technologies. HBP has three research areas – Neuroscience, Medicine and Future Computing – and will develop six ICT platforms, dedicated to Neuro¬informatics, Brain Simulation, High Performance Computing, Medical Informatics, Neuromorphic Computing and Neurorobotics. HBP is completely open, i.e., these platforms will be made available to all interested research communities worldwide, enabling them to profit from each other. Our vision is that interactive supercomputing, driven by the needs of brain simulation, will impact many industries. Devices and systems, modelled after the brain, are to overcome current limits on the energy-efficiency, reliability and programmability, clearing the road for systems with brain-like intelligence. The Neurorobotics Platform will offer scientists and technology developers a software and hardware infrastructure allowing them to connect pre-validated brain models to detailed simulations of robot bodies and environments and to use the resulting neurorobotic systems in silico experiments and technology development. In this talk, I will give an overview of the HBP, outline the goals of the Neurorobotics subproject, and sketch the work which is planned for the next two years.

BIO

Dr. Florian Röhrbein is a senior lecturer at the research group “Robotics and Embedded Systems” in TUM’s Informatics Department. He is managing director of the Neurorobotics subproject of the Human Brain Project flagship. He has international work experience in various projects on brain-inspired cognitive systems. Research stays include the MacKay Institute of Communication and Neuroscience (UK), the HONDA Research Institute Europe (Germany) and the Albert Einstein College of Medicine (New York). He received his Diploma and PhD from TU München and the venia legendi for computer science from Universität Bremen. Prior to his involvement in the Human Brain Project, he was member of the executive committee of the ECHORD project and was responsible for the structured dialogue between industry and academia in European robotics.

Here are videos of a students’ project of a tracker robot that relies on an external kinect sensor driven through ROS. The kinect observes the whole scene. A PhaROS-based node controls the robot to track a ball based on the the kinect output. When no ball is detected, the robot goes back to a home position.


Ball Following Behavior


Go Home Behavior


Tracker Camera View

We have already reported about a team of our students competing for the 2014 edition of the Eurobot contest (french chapter). The project where they have been using PhaROS is now over. Below the last videos. Hopefully a new team will be continue the effort next year and build up on what has been done so far.


IronMines Bot in the lab scoring 4 balls and 1 triangle


IronMines Bot in the lab scoring 1 ball and 2 triangles


IronMines during the competition

Cincom is looking for an experienced Smalltalker, a SOFTWARE ENGINEER.
Our new colleague shall strengthen the development team for our document output product Cincom ChannelStream (developed in Smalltalk).

Applications are accepted until the position is filled.
· English: http://documentoutput.cincom.com/software-engineer-cincom-channelstream/
· French: http://documentoutput.cincom.fr/2014/06/opportunite-software-engineer-cincom-channelstream/

Regards
Yvonne

********************************************
Yvonne Schickel
Marketing Manager Cincom ChannelStream
Cincom Systems GmbH & Co. oHG
Tel.: +49 6196 9003-0
E-Mail: yschickel@cincom.com

Le programme de l’édition 2014 aux Journées Nationales de Robotique Humanoïde et Architecture de Contrôle en Robotique (JNRH-CAR) est désormais disponible. Cette année les journées se tiendront à Paris à la cité internationale les 23 et 24 juin.

Les inscriptions en ligne sonts ouvertes. Le prix comprend :

  • L’accès à la conférence
  • Le programme et les résumés des interventions
  • Les pauses café des 23 & 24 Juin 2014
  • Les déjeuners des 23 & 24 Juin 2014
  • Le diner du 23 Juin 2014

 

The Ecole Nationale Superieure des Mines de Douai (Mines Douai ) is a French engineering school, member of the Institut Mines‐Télécom. Institut Mines‐Télécom is composed of 13 engineering schools with nearly 12,000 students, including 1,700 graduate students , and a research contract turnover of € 84 million. Mines Douai is organized into teaching and research departments in various fields of engineering science (for more details, see the website of the school: http://www2.mines‐douai.fr/en). Mines Douai would like to strengthen the Computer Science team by hiring a permanent assistant professor.

Teaching activities :

‐ Provide specialized teaching in his or her field of competence, in particular those related to IT or IA,

‐ Get involved in various educational support activities (supervision of students, creation of new educational resources, admission …).

Research and technology transfer activities :

‐ Conduct research and supervise PhD students and postdocs in: software engineering for robotics or multi-robots systems and robotics fleets coordination (more on http://car.mines-douai.fr)

‐ Develop collaboration with the other members of the department,

‐ Participate to regional, national and international activities (conference organization, workshop, etc.) of his/her field research,

‐ Collaborate with industrial partners and participate in technology transfer,

‐ Participate in the organization of scientific events.

Qualifications required
The position would suit an applicant who holds a PhD in the field of computer science, and who is interested in teaching and research‐oriented industrial applications. A post‐ doctoral experience would be appreciated. The ideal candidate must hold a specialized doctorate degree with skills in software engineering, autonomous systems, multi‐agent systems.
He/She should be a good team player and communicator, and have demonstrated international orientation. He/She should have the necessary linguistic and cultural skills to develop international cooperation in both research and teaching.

The candidate must have proven experience setting up and managing research projects. He or she should also
provide references showing an ability to teach and advise students. ’.

How to apply :
The position is open only to citizens of an EU member country. The application form is available upon request from : Danièle CATOUILLARD (Phone : +33 (0)3.27.71.25.36 ‐ daniele.catouillard@mines‐douai.fr ) Ecole des Mines de Douai Human Resources Department 941 Charles Street Bourseul ‐ CS 10838 59508 Douai Cedex ‐ France

Closing date for applications: 23 June 2014

Contact person
Professor Stephane LECOEUCHE ‐ Deputy Head of Department of Computer Science and Automatic Control, Director of the Research Unit IA Tel: +33 (0)3.27.71.24.45 Mail: stephane.lecoeuche@mines‐douai.fr