Hi,
Finally we are at end of the road ...
The first version of RCM with the minimum capabilities requested, will be ready for the next sprint, the right time for a demo.
The robot we can use could be a turtlebot2, as the robot will be installed with RCM part, FIROS could be started either at server or robot side. Once the robot is setup it can enter to the platform and here RCM:
· Create a clone in the platform, as the clone is a ROS container, it could be distributed between server and robot
· Start all ROS nodes needed for service logic (FIROS + move base + AMCL), FIROS could be started wherever you want (see above)
FIROS, once started or after being properly notified by specific ROS topic (please correct me if I'm wrong), create robot entity on CB and update it on ROS topic basis, namely:
· Robot (turtlebot) sensors, here we can communicate only battery level to upper level (http://docs.ros.org/api/kobuki_msgs/html/msg/SensorState.html)
· Robot pose
The Mashup app, built on top of FIWARE, will command the robot ( entity ) with a specific attribute.
Unfortunately, tomorrow we can't attend PhC for others previously scheduled meetings.
For the next week we can schedule Wednesday afternoon or late morning, if not we have the weekly scheduled PhC the day after.
BR
R
-----Messaggio originale-----
Da: fiware-robotics-bounces at lists.fi-ware.org [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di Fernando Herranz
Inviato: giovedì 4 dicembre 2014 14:19
A: Angel Hernandez; Garino Pierangelo; fiware-robotics at lists.fi-ware.org; Thomas Michael Bohnert
Oggetto: Re: [Fiware-robotics] FIWARE Robotics Periodic confcall
Hello,
at the end of the call we were having a very interesting conversation about RCM and FIROS. Here you can see a summary of the main topic that we were discussing:
- Etxe-Tar: has a preliminary version of FIROS which can manage basic ROS types of data such as poses.
- Telecom Italia: has a version of RCM which is capable of launching the ROS node move_base to control a robot.
Since we have a preliminary version of both system, I think it is the proper time to perform a simple real use case of the collaboration of FIROS and RCM. From my point of view it can be very helpful for both parts. Telecom Italia would understand better how FIWARE and the context broker work. Etxe-tar would know in detail how RCM works and could improve FIROS with that information. The test that I propose is that a FIWARE application commands a robot by means of context broker, FIROS and RCM. Here you can find the task that we have identified to complete the test:
Etxe-Tar part:
Develop a naive mashup application in FIWARE that publish in the
context broker a position (goal) to command a robot
Detailed explanation of the robot instance in the context broker for Telecom Italia
Detailed explanation of the translation of a simple message like a pose by FIROS for Telecom Italia
Telecom Italia part:
Set-up the simplest RCM architecture to command a robot
(turtlebot or PR2 or another robot that you can control)
Detailed explanation of the set-up process for Etxe-Tar
Name and type of the topic that FIROS has to subscribe
We think it would be very useful to keep discussing about it by having a call tomorrow morning. What about tomorrow (Friday 5th) at 10am?
Cheers
On 04/12/14 09:57, Angel Hernandez wrote:
> Hello again.
> We are in the middle of finishing other task. Would you mind if we start the call at 10:20 instead?
> 40 minutes should still be enough for today's call.
>
>
> Sent from: Lenovo K910
>
> Angel Hernandez <ahernandez at ikergune.com<mailto:ahernandez at ikergune.com>> wrote:
>
>
> Sounds good.. We will be on hangouts as usual.
>
>
>
> Sent from: Lenovo K910
>
> Garino Pierangelo <pierangelo.garino at telecomitalia.it<mailto:pierangelo.garino at telecomitalia.it>> wrote:
>
>
> Hi All,
> I'm unable to join at 10 the call, but I'll be available from 10:30 onwards.
> I suggest however you start discussing the latest document, then I'll join.
>
> BR
> Pier
>
>
>
> Hi All,
>
> this is the periodic reminder for the Robotics Confcall.
>
> We'll stay within 1h of call.
>
> We'll use powwownow, numbers to dial can be found at link
> http://www.powwownow.com/International-DialIn-Numbers/
>
> PIN 075102
>
>
> BR
> Pier
>
>
>
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