ROS for Education andApplied Research:
Practical Experiences
Ralph SEULIN*, Raphael DUVERNE*, Olivier MOREL*, Cansen JIANG*, Jeremie DERAY**, Jordi PAGES**,Lee KIAN SENG***, Remi GROSLEVIN*, Cedric DEMONCEAUX*, David FOFI*, Yohan FOUGEROLLE**CNRS UMR 6306 / University of Bourgogne Franche-Comté - FRANCE** PAL Robotics - Barcelona - SPAIN*** Universiti Teknologi PETRONAS - MALAYSIAROSCon 2015 - Hamburg - October 3-4, 2015

Context of Work
University of Burgundy - FRANCE
European Master in VIsion & roBOTics (ViBot)
Erasmus Mundus Programme
Girona Univ. & Heriot-Watt Univ. Edinburgh
Le2i Research Group
Image Processing, Computer Science andElectronics
Non-Classical Imaging
2Motivations
Share our experience of ROS with the dev. community
Started in 2013
2 Challenges in Computer Vision & Mobile Robotics
Introduction Modules for Education Programs
Research & Development (Internships, Projects,Applications, …)
Unique Platform3

Outline
Learn, Teach, Search & Develop
1. Learning ROS
2. Education
BSc & MSc Programs

3. Research
Omnidirectional Vision for Mobile Robotics

4. Application Development
3D Vision for Precision Agriculture

5. Conclusion
4

Learning
How we learn ROS
Oﬃcial Tutorials
ROS WikiBooks
ROS by Example, …
Workshops
GDR-Robotique, …
ROSCon & Shows (Innorobo, …)

5

Education
How we teach ROS
Intensive Training Sessions (40 hours + Practice)
Tutorials
Introduction to the Middleware
Packages, Simulation & Basic Control
Nodes with Python Programming & Launch Files
C++ Programming
TurtleBot2
Technical Workshop, Summer School

6

Education
How we teach ROS
Project Development
Robotics Laboratory

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Education
How we teach ROS
Project Development (~250 hours)
BScPart 1 - Motion Control
twist, odometry, move_base

Part 2 - Planar Laser RangeFinderRoboPeak RP-Lidar, tf, turtlebot

Part 3 - Navigation & Localization
move_base, gmapping, amcl
8

Education
How we teach ROS
BSc Robotics Projects - Indoor Navigation with TurtleBot2

9

Education
How we teach ROS
Project Development (~250 hours)
MSc = BSc + Computer Vision Tasks
Patrolling with Tasks: Tag / Face Recognition, Searchand Rescue, Fire Escape, …
openni,

P2

P3

P1

P4

opencv,pcl,visp,
smach, …

10

Education
How we teach ROS
MSc Robotics Projects - Indoor Patrolling with TurtleBot2

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Education
How we teach ROS
Education Project UTP - UAV Tag Tracking

ardrone_autonomy , artoolkit“Autonomous patrol and surveillance system using unmanned aerial vehicles”, 2015 IEEE 15th International Conference
on Environment and Electrical Engineering (EEEIC), pp. 1291- 1297

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Research Project
Omnidirectional Vision for Mobile Robotics
Omnidirectional Compact Sensor - Principle
Fisheye Lens -> Wide Angle of View ~185°
2 Non-Overlapping Fisheye Cameras-> Full Panoramic Spherical View

Calibration
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Research Project
Omnidirectional Vision for Mobile Robotics
Omnidirectional Compact Sensor - Camera Rig
2 x IDS-Imaging uEye USB 3.0 Camera - UI-3240CP︎2 x Fisheye Lens - FUJINON FE185C046HA-1

Acquisition: ueye stereo, message_filters
Spherical Image: https://github.com/artivis

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Research Project
Omnidirectional Vision for Mobile Robotics
Omnidirectional Compact Sensor
Localization & Telepresence15

Application Development
3D Vision for Precision Agriculture
Burgundy Viticulture-> Sustainable Spray Application of Phytosanitary Products
Adapt Amount of Applied Products w/r Leaf Density of the Vineyard Rows

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Application Development
3D Vision for Precision Agriculture
Prototype for 3D Vineyard Canopy Analysis
Robotnik SUMMIT XLLiDAR Sensor
HOKUYO UTM-30-LX

RBTNK-DOC-120510C
System Elements and Maintenance Manual. SUMMIT XL Platform

2.1 Motor wheels

Odometry
4 Wheel Encoders
Gyroscope

CRG
Figure 3 – Motor wheels

The robot has 4 motor wheels with the same configuration. Each wheel iscomposed by a motor block and a detachable wheel. The motor block has a
250w 8 poles brushless motor with Hall Effect sensor and a reduction gear box,
all hold by an aluminum cover. These kinds of motors have a much longer life
expectancy and a higher efficiency than brushed motors.

CRG20 Silicon Sensing

This tire is specially made for Robotnik, so contact us if you need toreplace them. It has a width of 145mm and a diameter of 235mm. The motor
block diameter is 100mm. It is recommended that no weight rests on the wheels
for a very long time when stopped to avoid flattening.
The cable must be kept in good condition, and protected if the externalcover is damaged. There are three 24V power wires, two 5VDC power andthree Hall Effect signals. If they are short-circuit, the motor and the driver can bedamaged.

5GENERAL DESCRIPTION

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CRG20 is the latest evolution of angular rate sensor utilisingApplication Development
3D Vision for Precision Agriculture

summit_xl, tf, hokuyo_node, laser_pipeline

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Application Development
3D Vision for Precision Agriculture

I/O Module

laser_assembler, laserscan2pointcloud2, pcl

19

Application Development
3D Vision for Precision Agriculture

20

Conclusion
ROS for Education and Applied Research
How to use ROS from scratch ?
Training & Networking
Practice -> TurtleBot2
ROSified Hardware
ROS for Instrumentation
OpenSource Acquisition & Processing Platform21

ROS for Education andApplied Research:
Practical Experiences
Ralph SEULIN*, Raphael DUVERNE*, Olivier MOREL*, Cansen JIANG*, Jeremie DERAY**, Jordi PAGES**,Lee KIAN SENG***, Remi GROSLEVIN*, Cedric DEMONCEAUX*, David FOFI*, Yohan FOUGEROLLE**CNRS UMR 6306 / University of Bourgogne Franche-Comté - FRANCE** PAL Robotics - Barcelona - SPAIN*** Universiti Teknologi PETRONAS - MALAYSIA

ROSCon 2015 - Hamburg - October 3-4, 2015