Ricardo Téllez – Robohub

Copyright by Intrinsic

cd ~/catkin_ws/src
catkin_create-pkg gazebo_light_sensor_plugin gazebo_ros roscpp
#ifndef GAZEBO_ROS_LIGHT_SENSOR_HH
#define GAZEBO_ROS_LIGHT_SENSOR_HH

#include 

// library for processing camera data for gazebo / ros conversions
#include 

#include 

namespace gazebo
{
class GazeboRosLight : public CameraPlugin, GazeboRosCameraUtils
{
/// brief Constructor
/// param parent The parent entity, must be a Model or a Sensor
public: GazeboRosLight();

/// brief Destructor
public: ~GazeboRosLight();

/// brief Load the plugin
/// param take in SDF root element
public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);

/// brief Update the controller
protected: virtual void OnNewFrame(const unsigned char *_image,
unsigned int _width, unsigned int _height,
unsigned int _depth, const std::string &_format);

ros::NodeHandle _nh;
ros::Publisher _sensorPublisher;

double _fov;
double _range;
};
}
#endif

#include 
#include 
#include "/home/rtellez/iri-lab/iri_ws/src/gazebo_light_sensor_plugin/include/light_sensor_plugin.h"

#include "gazebo_plugins/gazebo_ros_camera.h"

#include 

#include 
#include 
#include 

#include 

namespace gazebo
{
 // Register this plugin with the simulator
 GZ_REGISTER_SENSOR_PLUGIN(GazeboRosLight)

 ////////////////////////////////////////////////////////////////////////////////
 // Constructor
 GazeboRosLight::GazeboRosLight():
 _nh("light_sensor_plugin"),
 _fov(6),
 _range(10)
 {
 _sensorPublisher = _nh.advertise("lightSensor", 1);
 }

 ////////////////////////////////////////////////////////////////////////////////
 // Destructor
 GazeboRosLight::~GazeboRosLight()
 {
 ROS_DEBUG_STREAM_NAMED("camera","Unloaded");
 }

 void GazeboRosLight::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
 {
 // Make sure the ROS node for Gazebo has already been initialized
 if (!ros::isInitialized())
 {
 ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
 << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
 return;
 }

 CameraPlugin::Load(_parent, _sdf);
 // copying from CameraPlugin into GazeboRosCameraUtils
 this->parentSensor_ = this->parentSensor;
 this->width_ = this->width;
 this->height_ = this->height;
 this->depth_ = this->depth;
 this->format_ = this->format;
 this->camera_ = this->camera;

 GazeboRosCameraUtils::Load(_parent, _sdf);
 }

 ////////////////////////////////////////////////////////////////////////////////
 // Update the controller
 void GazeboRosLight::OnNewFrame(const unsigned char *_image,
 unsigned int _width, unsigned int _height, unsigned int _depth,
 const std::string &_format)
 {
 static int seq=0;

 this->sensor_update_time_ = this->parentSensor_->GetLastUpdateTime();

 if (!this->parentSensor->IsActive())
 {
 if ((*this->image_connect_count_) > 0)
 // do this first so there's chance for sensor to run once after activated
 this->parentSensor->SetActive(true);
 }
 else
 {
 if ((*this->image_connect_count_) > 0)
 {
 common::Time cur_time = this->world_->GetSimTime();
 if (cur_time - this->last_update_time_ >= this->update_period_)
 {
 this->PutCameraData(_image);
 this->PublishCameraInfo();
 this->last_update_time_ = cur_time;

 sensor_msgs::Illuminance msg;
 msg.header.stamp = ros::Time::now();
 msg.header.frame_id = "";
 msg.header.seq = seq;

 int startingPix = _width * ( (int)(_height/2) - (int)( _fov/2)) - (int)(_fov/2);

 double illum = 0;
 for (int i=0; i<_fov ; ++i)
 {
 int index = startingPix + i*_width;
 for (int j=0; j<_fov ; ++j)
 illum += _image[index+j];
 }

 msg.illuminance = illum/(_fov*_fov);
 msg.variance = 0.0;

 _sensorPublisher.publish(msg);

 seq++;
 }
 }
 }
 }
}

cmake_minimum_required(VERSION 2.8.3)
project(gazebo_light_sensor_plugin)

# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
roscpp
gazebo_ros
)

# Depend on system install of Gazebo
find_package(gazebo REQUIRED)

link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})

add_library(${PROJECT_NAME} src/light_sensor_plugin.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} CameraPlugin)

catkin_package(
DEPENDS
roscpp
gazebo_ros
)

 model://ground_plane

 model://sun

 0 -1 0.05 0 -0 0

 0.1

 1
 0
 0
 1
 0
 1

 0.1 0.1 0.1

 10

 0.1 0.1 0.1

 1.047

 320
 240

 0.1
 100

 camera
 true
 10
 rgb/image_raw
 depth/image_raw
 depth/points
 rgb/camera_info
 depth/camera_info
 camera_depth_optical_frame
 0.1
 0.0
 0.0
 0.0
 0.0
 0.0
 0.4
 /

 0
 0
 1

roslaunch gazebo_light_sensor_plugin main.launch
rosrun image_view image_view image:=/camera/rgb/image_raw
rostopic echo /gazebo_light_sensor_plugin/lightSensor

	ROS	YARP	OROCOS
Number of Google pages:	243.000	37.000	42.000
Number of citations if the paper describing the middleware:	3.638	463	563
Alexa ranking:	14.118	1.505.000	668.293

Circuit	Circuit2
Round	Maze

Ricardo Téllez – Robohub

Flowstate: Intrinsic’s app to simplify the creation of robotics applications

What is Flowstate?

Good points

Unclear points

Conclusion

ROS Awards 2022 results

Categories

Best ROS Software

Best ROS-Based Robot

Best ROS Developer

Insights from the 2022 Edition

Conclusions

How to build a robotics startup: getting some money to start

Subscribe to the podcast using any of the following methods

Or watch the video

How to build a robotics startup: getting the team right

Subscribe to the podcast using any of the following methods

Or watch the video

How to build a robotics startup: the product idea

Related links

Subscribe to the podcast using any of the following methods

Or watch the video

Teaching robotics with ROS

The proposal

Not a new method

How to teach robotics with ROS

1. Explain the basic ROS concepts

2. Explain and implement robotics subject

3. Add new ROS concept

4. Continue with the next robotics subject

5. Real robots project

6. Evaluation

How to provide the material to the students

Additional topics you may need to cover

Webinar about this subject

Conclusion

Simulations are the key to intelligent robots

Using games to bootstrap intelligence

From games to simulations

Training robots

Massive data vs. complex learning algorithms

Transferring to real robots

Some software that goes on the line

Carla

Microsoft Airsim

Nvidia Isaac

ROS Development Studio

Conclusion

How to start with self-driving cars using ROS

Why ROS is interesting for autonomous cars

Our low cost solution to become a self-driving car engineer

Conclusion

The need for robotics standards

Benchmarks are necessary and they need standards

Software development for robots also needs standards

A few standard proposals and a winner

Why ROS?

What about companies?

So is ROS the standard for programming robots?

Teaching ROS quickly to students

Student’s point of view

Teacher’s point of view

Some examples of past events

Helpful ROS videos

Machine Learning with OpenAI Gym on ROS Development Studio

How to Train your Robot

Using the ROS Development Studio for training the robot

import sys sys.path.append("/usr/local/lib/python2.7/dist-packages/") sys.path.append("/home/ubuntu/gym-gazebo") sys.path.append("/home/user/catkin_ws/src/gym_construct/src") %matplotlib inline

## Circuit-2 Environment --> Q-learning %run /home/user/catkin_ws/src/gym_construct/src/circuit2_turtlebot_lidar_qlearn.py

Plotting the learning curve of the robot

Video describing the procedure to run OpenAI Gym on RDS

Developing ROS programs for the Sphero robot

Adjust how you learn and quickly pick up robotics programming

Learning to program robots is difficult.

You don’t have access to robots to play with

Concepts are complex to understand

Documentation made by teachers for teachers

The solution we propose

Implementation

`import sys sys.path.append("/usr/local/lib/python2.7/dist-packages/") sys.path.append("/home/ubuntu/gym-gazebo") sys.path.append("/home/user/catkin_ws/src/gym_construct/src") %matplotlib inline`

`## Circuit-2 Environment --> Q-learning %run /home/user/catkin_ws/src/gym_construct/src/circuit2_turtlebot_lidar_qlearn.py`