Developing Applications for the ROBOBO! robot

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1 Developing Applications for the ROBOBO! robot Gervasio Varela

2 Outline ROBOBO!, the robot ROBOBO! Framework Developing native apps Developing ROS apps Let s Hack

3 ROBOBO!, the robot Multipurpose Robot: Research. Education. Home entertainment. Maker community. Open source hardware. Open source software. ROS compatible.

4 ROBOBO!, the robot (II) Android Smartphone Robotic Sensorized Platform ROBOBO!

5 Robotic Sensorized Platform Codenamed ROB. The body of the robot: Environment sensing. Movement abilities. Battery powered. Bluetooth connectivity.

6 Robotic Sensorized Platform (II) 9 IR sensors for obstacle detection. Integrated fall detection. Optional secure movement mode. Simultaneous two wheel movement. Pan/Tilt movement for the smartphone. 9 LED lights.

7 Android Smartphone Codenamed OBO. The brain of the robot: High-level sensing. High-level processing. Network connectivity. Connects to the ROB via Bluetooth.

8 Android Smartphone (II) High resolution cameras. Accelerometer, gyroscope, magnetometer. GPS. Microphone. Speakers. Display. And much more

9 ROBOBO! Framework Development framework to build ROBOBO! applications. Modular design. Easy to extend with new modules. Multiple modules available now, more to come. LGPL v3 License. Sources available at: Binaries available at Maven Central.

10 ROBOBO! Framework (II) ROB Interface module to interact with the ROB: Subscribe to sensors. Move the motors. Examples of high-level modules: Speech production. Shock detection. Simplified movement. Human-Robot interaction. ROS module.

11 Developing native apps Android apps that use the framework to implement custom robot behaviors. Only have to provide custom control logic for the robot. A reference app project can be found at:

12 Developing native apps (II) Howto: 1. Download Android SDK + Android Studio 2. Create an Android App project. 3. Import the framework dependencies. 4. Initialize the ROBOBO service. 5. Write custom application code. 1. Get instances of ROBOBO modules. 2. Use them

13 Developing native apps (III) The IRob interface provides access to the ROB functionalities: Receive periodic ROB status messages. IR sensor data. Fall detection info. Motor movement data. Battery info. Send commands to the ROB. Move motors. Change LEDs colors. Change ROB status period. Change ROB mode.

14 Developing native apps (IV) A complete example of native app can be found at: lication

15 Developing ROS apps A ROS module implements a proxy from ROS concepts (services/topics) to native ROBOBO actions. All the ROB functionalities. All the ROBOBO modules. The smartphone front-camera is available at /camera/image/compressed The smartphone sensors are used to provide a /imu topic Two options: Remote ROS applications. Embedded ROS applications. Local or remote ROS master.

16 Remote ROS applications ROS nodes, not deployed in the smartphone, that use the services/topics of a ROBOBO! robot. The ROBOBO! Services and Messages dependency is available at: Rosjava: ROS: An example of a remote ROS application that uses all the current ROBOBO! functionalities can be found at: Code: Binary: jar?dl=0

17 Remote ROS applications (II) The ROBOBO! ROS app. Creates a ROS-compatible ROBOBO! robot.

18 Embedded ROS applications The ROS module allows the execution of rosjava code in the smartphone.

19 Embedded ROS applications (II) You can use the ROBOBO! ROS app code as a starting point to build custom embedded ROS applications: There is a small example in the branch example-embedded-app

20 Multi-robot support The ROBOBO! ROS app can be started in multi-robot mode.

21 Multi-robot support (II) The remote control app is compatible with multiple robots:

22 Tips & Tricks ROBOBO! modules are dynamically loaded during framework startup: Defined in loading order in modules.properties in assets folder of the Android app. Modules are singletons that can be accessed by their interfaces: rob.getmoduleinstance(ispeechproductionmodule.class); Use the Dummy ROB interface module to test code without the ROB. robobo.module.0=com.mytechia.robobo.rob.dummyrobinterfacemodule Modules accept some options during framework initialization:

23 Let s Hack Here be dragons

24 Developing Applications for the ROBOBO! robot Gervasio Varela Mytech Ingeniería Aplicada S. L.

25 Developing Applications for the ROBOBO! robot Gervasio Varela Mytech Ingeniería Aplicada S. L.

26 Developing native apps (IV)

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