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Abstract(s)
Este trabalho consiste na análise e proposta de melhorias do pipeline de processamento do wiigo. A presente dissertação foi integrada num estágio curricular na empresa Follow Inspiration. Um dos produtos desenvolvido por esta empresa é um carrinho de compras autónomo com o nome de wiigo que se integra na categoria de robô de serviço. Atualmente este robô tem todo o seu processamento centralizado num computador localizado na sua base.
Efetuou-se um estudo das características técnicas e funcionalidades dos robôs de serviço.
Foram usadas e testadas varias ferramentas de analise de performance de um sistema ROS, incluído o rostopic statistics, rosprofiler e ARNI. Com recurso a estas ferramentas foi caracterizado o desempenho da configuração atual de hardware e software do wiigo.
Foram propostas duas novas arquiteturas de software e uma nova arquitetura de hardware.
A arquitetura de hardware irá consistir em dois computadores, um localizado na base e outro na cabeça do wiigo ligados por Ethernet. Será feita a divisão do processamento pela cabeça do robô onde estão localizadas as câmaras e a base onde estão localizados o resto dos sensores. As arquiteturas de software escolhidas visam balancear a execução dos nodes OS e testar a performance de diferentes processadores.
De modo a aumentar a robustez do sistema foi testada a viabilidade do uso do middleware DDS (data distribuition service) para comunicação entre computadores. Foi criado um pacote ROS que faz uso do DDS para substituir a camada de comunicação do ROS. Como alternativa ao DDS foi também testado o pacote ROS multimaster fkie.
Todas as configurações foram testadas fisicamente no wiigo com sucesso. Os resultados dos diferentes testes vão ser apresentados sob a forma de gráficos e tabelas. Será feita uma analise das vantagens e desvantagens das diversas arquiteturas propostas em relação à arquitetura atual. Vai ser apresentada uma configuração de hardware e software final e justificada a sua viabilidade.
This work consists of the analysis and proposal of improvements in the wiiGO processing pipeline. The present dissertation was integrated in a curricular internship in the company Follow Inspiration. One of the products developed by this company is an autonomous shopping cart with the name of wiigo that is integrated into the category of service robot. Currently this robot has all its processing centralized in a computer located in its base. A study of the technical characteristics and functionalities of the service robots was carried out. Several performance analysis tools for a ROS system were used and tested, including rostopic statistics, rosprofiler and ARNI. The performance of the current wiigo hardware and software configuration was characterized using these tools. Two new software architectures and a new hardware architecture were proposed. The hardware architecture will consist of two computers, one located at the base and the other at the head of the wiigo connected by Ethernet. The processing will be divided by the head of the robot where the cameras are located and the base where the rest of the sensors are located. The chosen software architectures are designed to balance the execution of ROS nodes and to test the performance of di erent processors. In order to increase the robustness of the system it was tested the feasibility of using DDS (data distribution service) as a means of communication between computers. A ROS package was created for this that uses the DDS to communicate. As an alternative to DDS, the multimaster fkie package was also tested. All architectures have been physically tested on wiigo successfully. The results of the different tests will be presented in the form of graphs and tables. An analysis was made of the advantages and disadvantages of the various proposed architectures in relation to the current architecture. A final hardware and software configuration will be presented and its viability justified.
This work consists of the analysis and proposal of improvements in the wiiGO processing pipeline. The present dissertation was integrated in a curricular internship in the company Follow Inspiration. One of the products developed by this company is an autonomous shopping cart with the name of wiigo that is integrated into the category of service robot. Currently this robot has all its processing centralized in a computer located in its base. A study of the technical characteristics and functionalities of the service robots was carried out. Several performance analysis tools for a ROS system were used and tested, including rostopic statistics, rosprofiler and ARNI. The performance of the current wiigo hardware and software configuration was characterized using these tools. Two new software architectures and a new hardware architecture were proposed. The hardware architecture will consist of two computers, one located at the base and the other at the head of the wiigo connected by Ethernet. The processing will be divided by the head of the robot where the cameras are located and the base where the rest of the sensors are located. The chosen software architectures are designed to balance the execution of ROS nodes and to test the performance of di erent processors. In order to increase the robustness of the system it was tested the feasibility of using DDS (data distribution service) as a means of communication between computers. A ROS package was created for this that uses the DDS to communicate. As an alternative to DDS, the multimaster fkie package was also tested. All architectures have been physically tested on wiigo successfully. The results of the different tests will be presented in the form of graphs and tables. An analysis was made of the advantages and disadvantages of the various proposed architectures in relation to the current architecture. A final hardware and software configuration will be presented and its viability justified.
Description
Keywords
Robótica Robôs de serviço Processamento distribuído Middlewares ROS DDS Linux Robotics Service Robots Distributed processing Robotics middleware