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Large project example?

asked 2012-05-25 02:05:26 -0500

liborw gravatar image

updated 2014-01-28 23:12:26 -0500

ngrennan gravatar image

Hi,

we are planning to build larger robotic project (industrial robots, many sensors, high and low level planning), and we are planning to use ROS. Is there some similar large project in ROS which can be used as an example?

What we are currently seeking is example of high-level design for large ROS project.

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I feel like there should be a WikiBook or something for building a tutorial on how to do this.

DimitriProsser ( 2012-05-25 08:58:30 -0500 )edit

I think the notion of design patterns for a "large-scale" project is poorly defined without more info. I would ask you, what is it that you want ROS to do for you?

jbohren ( 2012-05-25 19:58:39 -0500 )edit

For now, the PR2 opening door is good example for large scale project. However, most of the tutorials are focused ether on how to run some demo or how to write some code to get some particular functionality. ...

liborw ( 2012-05-28 06:44:39 -0500 )edit

... What I thing would be great starting point is some kind of top down example using some real task scenario, with explained high level design concepts which should be used.

liborw ( 2012-05-28 06:50:26 -0500 )edit

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answered 2012-05-29 06:16:04 -0500

liborw gravatar image

After two days of digging, I have found another similar project to PR2, the Care-O-Bot, and I was able to run at least one tutorial.

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answered 2012-05-25 03:17:08 -0500

Erwan R. gravatar image

Hi,

I think "Tips for larger projects" may help you. Nodes are intended to be of a small granularity, so having one node for one task (according to doc). By the way, I think PR2 documentation could help you, as a complex system with several sensors.

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Thanks for the link, however this is tutorial about writing launch file for large project, what we need to know what is the right way to make entire system structure, if use one node for all planning or separate it into many smaller planning subnodes, probably what I would like to see is some graph.

liborw ( 2012-05-25 03:38:33 -0500 )edit

As said, nodes are at low granularity level, so that means that one node is doing one task, i.e, one node is doing planning, one is managing lasers, another one controls arm movements, motors ... I thinkgiving ROS a try through PR2 simulator can show you the way it is done. When running, you can ...

Erwan R. ( 2012-05-25 03:47:11 -0500 )edit

... use rxgraph to get the whole graph of nodes and topics. I suggest you to do so because theses graphs can be complex and would not be easy to see as an image (you can zoom in and out in with rxgraph)

Erwan R. ( 2012-05-25 03:48:37 -0500 )edit

Thanks, I haven't thought about running example in simulator.

liborw ( 2012-05-25 05:57:23 -0500 )edit

So, I have tried to follow the tutorials for PR2 simulation but all of them are outdated and depend on packages which are no longer available or broken.

liborw ( 2012-05-28 06:37:54 -0500 )edit

I followed the Basic PR2 controls tutorial that is mainly working on my machine (ROS electric, Ubuntu 10.04). Tutorials are often out of date but investigating stacks and packages usually bring solutions to the ajustements to do.

Erwan R. ( 2012-05-29 02:45:54 -0500 )edit

At least, you can search & ask here for issues that have probably been solved.

Erwan R. ( 2012-05-29 02:46:31 -0500 )edit

Hi, liborw. hope you were able to simulate the large environment. I need to simulate a home/office environment. Hope u can help : http://answers.ros.org/question/42435/pointers-to-office-and-home-environment-in-gazebo/

aknirala ( 2012-08-30 03:27:16 -0500 )edit

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Asked: 2012-05-25 02:05:26 -0500

Seen: 251 times

Last updated: May 29 '12