Louise Poubel on the Robotic Operating System

Redis Enterprise Users

• Redis Enterprise is used by companies like Microsoft, Staples, and Twitch. (10s)

Dolly: An Open-Source Virtual Robot

• Dolly is an open-source virtual robot created as a "hello world" example for robotics, using tools like Gazebo and ROS. (2m28s)
• Dolly's source code is open source and intended to function as a "hello world" program. (27m35s)

Robot Operation Cycle

• Robots operate on a "sense-think-act" cycle, where they collect data with sensors, process it with logic, and then take action using actuators. (3m49s)

Dolly's Event-Driven System

• Dolly's system operates on an event-driven basis, primarily triggered by the receipt of new sensor data, such as laser scans from LiDAR. (7m11s)

Robotic Operating System (ROS)

• The Robotic Operating System (ROS) serves as a communication layer, or middleware, facilitating data exchange between different components of a robot, such as sensors, actuators, and logic units. (8m41s)
• ROS supports multiple programming languages, including C++, Python, and others, allowing developers to implement robot components in their preferred language while ensuring seamless communication through standardized data formats. (10m13s)
• ROS (Robotic Operating System) is compatible with Mac, Windows, and Linux operating systems. (27m46s)
• Individuals interested in getting started with ROS can find tutorials and resources on ros.org or ros2.org. (28m3s)

ROS Release Cycles

• ROS transitioned from six-month to longer release cycles as the codebase stabilized, while ROS2 maintains a six-month release cycle. (11m26s)

ROS2 Features

• ROS2, built on the Data Distribution Service (DDS) standard, offers advantages like integration with simulation, navigation stack, and other features expected by ROS users. (11m58s)

Gazebo Simulation

• Gazebo, a product of Open Robotics, supports simulation description formats like SDF and URDF, allowing users to define robot characteristics such as friction, size, and joint behavior. (16m19s)
• Open Robotics is shifting its focus from ROS 1 to ROS 2, with the final ROS 1 release (Noetic) planned for the near future, while Gazebo Classic is being superseded by Ignition, a new simulator with enhanced features such as cloud support and improved abstraction layers. (25m11s)

Robot Simulation Benefits

• Robot simulation allows for testing algorithms and robot behavior in a controlled environment without real-world risks. (18m13s)
• Real-world robot behavior is impacted by unpredictable factors like slight variations in wheel size, debris on the floor, and uneven surfaces, making it important to design robust algorithms and vary parameters during simulation testing. (20m17s)

ROS Development Tools

• ROS (Robotic Operating System) provides pre-built drivers, tools for data capture, and introspection capabilities, simplifying the development of robotics applications. (22m30s)
• RViz, a visualization tool in ROS, allows users to visualize data from multiple robots and sensors in a unified 3D scene, aiding in debugging and understanding system behavior. (22m51s)

Dolly's Physical Design

• Dolly is a robot made up of boxes and cylinders connected by joints. (17m38s)