ROSLab : A High-level Programming Environment for Robotic Co-design

ROSLab: A High-level Programming Environment for Robotic Co-design Nicola Bezzo, Peter Gebhard, Andrew King, Junkil Park, Oleg Sokolsky, Insup Lee

Objective 1)Development of a Simplified High-Level Programming Language for Robotic Applications. 2) Complete Robot Synthesis. • HL code generation • LL code generation • Hardware description generation PRINTABLE QUADROTOR ELECTRONICS SYNTHESIS Y. Mulgaonkar, V. Kumar (UPenn) PRINTABLE INSECT M. Piccoli, M. Yim (UPenn) A. Mehta, M. Tolley, D. Rus (MIT) A. Mehta, M. Tolley, D. Rus (MIT)

Graphical Block - ROS Code Pairing #include <messages/encoder.h> void encoderCallback (const messages::encoder_msg::ConstPtr& enc_message) { EncoderVelC = “operation involving number of ticks read by encoder” } ros::Subscriber enc_sub; enc_sub = node.subscribe ("/encoder_topic", 1, encoderCallback); = ENCODER /encoder_topic EncoderVelC

How does ROSLab generate code? • Formal Code Generation to C++ / ROS • data structure and semantic check • port type check • Template with “holes” • $includes$ • $pub_ports$ • $sub_port_values$ • $sub_port_callbacks$ • int main(int argc, char **argv) { //----MAIN • ros::init(argc, argv, $node name$); • ros::NodeHandle node; • $pub_connections$ • $sub_callback_setup$ • ros::Rate r(100); • while(ros::ok()) { //----WHILE • ros::spinOnce(); • // ***** ADD YOUR CODE HERE ***** • // ********************************* • r.sleep(); • } // --- end while • return EXIT_SUCCESS; • } // --- end main • Advertise Example • $port_name$ = node.advertise<$port_type$> ("$port_topic$", 1); port_name port_topic port_type

ROSLab Demo https://www.youtube.com/watch?v=QguFMBYzgTE

SCHEDULING OF CONTROLLERS T0 = 0 Δt = 1 TF = 2 sec T1 = 1 1 Hz 1 Hz SENSOR 1 CONTROLLER 1 CruiseControl VX 2 Hz 2 Hz SENSOR 2 Controller 2 Obstacle Avoid. WZ 2 Hz Controller 3 Waypoint Nav - Fixed delay

SCHEDULING OF CONTROLLERS T0 = 0 Δt = 2 TF = 3 sec T1 = 1 1 Hz 1 Hz SENSOR 1 CONTROLLER 1 CruiseControl VX 1 Hz P 2 Hz 2 Hz SENSOR 2 Controller 2 Obstacle Avoid. WZ 2 Hz Controller 3 Waypoint Nav - Planner to decide which controller is active/inactive

TIME CONSTRAINT • Freshness constraint: bounds the time it takes for data to flow through the system • F(Y|X)=10 Y delivered at time t, then X-value to compute Y is sampled no earlier than t-10 ms • Separation constraint: constraints the jitter between consecutive values on a single output channel • l(Y)=3  Y delivered at a minimum rate of 3ms • u(Y)=13  Y delivered at a maximum rate of 13ms

Control System Scheduling S C A τ θ θS v RATE TS = ? TC = ? TA = ? freshness / separation freshness: F(τ|θ) = f(θs(t-1)) separation: S(τ) = g(θs(t-1)) STABILITY PROPERTIES

SPECIFICATION: -flight time -payload -speed …. High-level Software Low-level Software Mechanical Hardware Electronics

Robot Codesign – ROSLab Architecture HL-SW SUPERVISOR Joystick CONTROLLER 1 Vicon SWITCH QUADROTOR CONTROLLER 2 SENSOR 1 TRPY CONTROLLER 3 SENSOR N

HL-SW ROS NODE Switch TRPY LL-SW CONTROLLER TRPY POSE ESTIMATE PWM PWM PWM PWM Accel/AngVel M2 M1 M3 M4 RADIO μC IMU Electronics

M2 M1 M3 M4 RADIO μC IMU Electronics LINK LINK BODY LINK LINK Mechanical

ROSLab – Mechanical Design https://www.youtube.com/watch?v=zWkCnhuEsrU

ROSLab – Electronics Design RADIO μC L0 - ROSLab R.S1μC.S1 1 1 PA.0.S1.1/S2/S3 R μC S1 L1 – Service/Pins 2 2 PA.1.S2/S3/S4 S2 3 3 PB.0.S1/S2/S3 S3 L2 – Assignment Greedy Algorithm R.S1.1 μC.S1.1/S2/S3.AF0.PA.0 L3 – Low Level μC and Hardware Specification *.xml *.h

Conclusion • ROSLab to generate a complete description of a robot. • MIT Printable Segway and Penn Quadrotor as reference testbed to demonstrate the complete co-design • Scheduling and Real-time analysis • Prove Properties • Time execution: e.g., response time analysis • Information flow: e.g., output depends only on inputs • Simulation tool: e.g., power draw given HW setup • First release available at: http://precise.github.io/ROSLab/

ROSLab : A High-level Programming Environment for Robotic Co-design