CloudSim
May 8th, 2013
Hugo Boyer, Carlos Aguero, Brian Gerkey

Table of Contents
Introduction
Motivation: DARPA Robotics Challenge
Evolution
StatusLimitations
Benefits
Future possibilities
Conclusion

Introduction

Introduction
OSRF
To support the development, distribution, and adoption of open source software for use inrobotics research, education, and product development.

Hugo Boyer
Senior software engineer

Carlos Aguero
Senior software engineer

Brian Gerkey
Chief executive officer

Steffi Paepcke
UX

Brant RevillWeb

Introduction

Introduction

Introduction

Introduction

IntroductionDARPA Robotics Challenge

DARPA Robotics Challenge
DisasterResponse

DARPA Robotics Challenge

DARPA Robotics Challenge

DARPA Robotics Challenge
Map-reduce the best robotics teams in the world
Map: simulated arenas vs• Operator skills• Cutting edge software

Reduce: best score of• Time
• Task completion• Bandwidth utilization
15 tasks, 3 days.

theroboticschallenge.org

CloudSim: design and overview
Configuration• Network routes• Software, simulation configurations• Security

Private instant network

Evolution

CloudSim evolution
September 2012 (2012-09)
Brian's prototype:- Amazon gpu machine- OpenID authentication- Python thread that bring up a machine, setup ROS, X and Gazebo
December 2012
Version 1.0- New front end- push notifications (polling)- REST API- Redis backend

CloudSim evolution
February 2013
Constellations- chaining VPNs does not scale- virtual lans (AWS VPC)
- Constellation plugin (single thread):- launch, terminate- start task, stop task
Development slows down
- 20 minCloudSim evolution
February 2013

CloudSim evolution
Issues:- not getting full 10 gbs bandwidth- some strange behavior- capacity- jitterCloudSim evolution
SoftLayerPros
up to date performance
NVIDIA K10 processor
2x Intel Xeon-SandyBridge E5-2690-OctoCore [2.9GHz] CPU
no hypervisor
single tenancy
Consmonthly instead of hourly
inflexible network topology and FW
1h provisioning [with bugs].

StatusStatus
CloudSim architecture• Thin web client• Web server toprocess requests• Daemon to launch
cloud machines• Simulation
machines

CloudSim, Simulator and Web Client machines

Limitations

Limitations
Latency• Some extra ms. are required to reach themachines on the cloud• The latency is not fixed and depends onthe geographic location of user/provider

Cost• Pay on demand
Amazon $2.10/h
SoftLayer $1200.00/month• Are we ready to pay for CPU cycles?

Small range of GPU-based providers• A wider selection of providers would reduce costs• Mitigated by demand for game streamingBenefitsCloudSim benefits
ROS in a box• curated selection of:hardware
software (Groovy Precise Gazebo)
networking and routing
robotics (controllers, sensors)
simulation worlds

Concurrent by design• 1 or 100 machines, same time
• Open and extensible

Low barrier to entry• Thin client• Platform for sharing

Future possibilities

Future possibilities
Research and industrial• Store of simulation experiments• [Automatic] [parallel] Testing• Design optimization

Education• Competition in the classroom• Share simulations, data, benchmarks

Other future lines• Launch other open source robotics
software• Connect to data sets

Expansion• Deploy to real robots

Dream big

Conclusion

Conclusion
Motivated by specific requirements of the DARPA Robotics Challenge
Contribute to the success of Gazebo
Enables new workflows in robotics simulations
Makes ROS and Gazebo more accessible
Open Source, BSD license
CloudSim could be to be to ROS/Gazebo what Android is to Linux
http://gazebosim.org/wiki/CloudSim