ROSCon 2014 - Chicago State of Ubuntu andMust run Ubuntu or Linaro! Linaro builds are customized...
Transcript of ROSCon 2014 - Chicago State of Ubuntu andMust run Ubuntu or Linaro! Linaro builds are customized...
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ROSCon 2014 - Chicago
State of Ubuntu and ROS on ARM
Austin Hendrix
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Why ARM?
Performance per Dollar quad-core, 1GHz+ CPUs$60-$200!
Power Consumption usually < 10W!
Size usually less than 15x15cm!
Everything Included!
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History of ROS on ARM
2009 2010 2011 2012 2013 2014
gumros!Jostein Jacobsen
gumrosAlt!Daniel Stonier
eros!Daniel Stonier
ROS Electric on ARM!Tully Foote
HBRC Robot Reference Platform
TurtleCore!Rob Linslata
meta-ros!BMW, Lukas Bulwahn
ROS Groovy on ARM!Austin Hendrix
beagle-ros!Victor Mayoral
ROS Hydro on ARM!Austin Hendrix
ROS Hydro with PCL and Navigation
ROS Indigo on ARM
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Why Ubuntu?
❖ Easy to install!
❖ Lots of ARM boards already supported!
❖ Already supported by ROS, minimal changes for ARM!
❖ Victor, the original developer of BeagleROS (ROS on Ångstrom) has switched to Ubuntu.
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Comparison with OpenEmbeddedUbuntu!
❖ Binary ROS packages!
❖ Is compiled for a generic ARM architecture!
❖ Installation with usual Ubuntu tools (dpkg, apt, etc.)
OpenEmbedded (meta-ros)!
❖ A cross-compilation tool chain for ROS packages based on catkin!
❖ Compiles all packages from source!
❖ Supports many architectures: ARM, MIPS, PowerPC, and more!
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Comparison with OpenEmbedded (2)
Ubuntu!
❖ easy and quick installation!
❖ no need to compile the basic ROS packages from source!
❖ common Ubuntu feel!
❖ additional compilation is on-board
OpenEmbedded (meta-ros)!
❖ easy to adjust to new machines and architectures!
❖ allows changes to the basic ROS packages!
❖ small Linux kernels and images!❖ needs a big build machine for
compilation!❖ needs some setup to get build
machine and tool chain running
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Package Counts
❖ Groovy: 495 packages!
929 upstream!
❖ Hydro: 1035 packages!
1506 upstream!
❖ Indigo: 772 packages!
995 upstream
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What Works?
❖ PCL!
❖ Navigation!
❖ libfreenect driver!
❖ OpenNI2!
❖ OpenCV!
❖ Camera drivers
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What Doesn’t Work?
❖ OpenNI driver!
❖ Third-party x86 binaries!
❖ Lisp!
❖ Only works on Indigo and 14.04!
❖ No Indigo on 13.10 (Saucy)
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RViz and Gazebo❖ RViz!
❖ Works IF your board has OpenGL support!
❖ Ok for simple tasks, slow for point clouds!
❖ No binaries yet. In progress!
❖ Gazebo!
❖ Community reports that it works!
❖ No ARM binaries from upstream
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Supported Platforms❖ Must run Ubuntu or Linaro!
❖ Linaro builds are customized builds of Ubuntu for specific CPUs and boards!
❖ Same ROS to Ubuntu mappings as x86!
❖ Groovy on Ubuntu 12.04 and 12.10!
❖ Hydro on Ubuntu 12.04, 12.10 and 13.04!
❖ Indigo on Ubuntu 14.04!
❖ Lots of user-contributed reports for individual platforms
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Supported Platforms (1)
BeagleBoard xM BeagleBone Black PandaBoard
Cubieboard 2 Gumstix Overo FXI Cotton Candy
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Supported Platforms (2)
SolidRun CuBox-i Pro Odroid U3 and family Parallela
Radxa Rock UDOO (Dual and Quad) NVIDIA Jetson TK1
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Supported Boards (5)❖ Qualcomm Snapdragon!
❖ Inforce Computing: IFC6410!
❖ Intrinsyc: DragonBoard APQ8074 (not shown)
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Robots using ARM❖ ROSie: Qualcomm’s TurtleBot
with Snapdragon!
❖ Dan Barry: Indoor Navigation!
❖ Erle Robotics: rovers and quadcopters!
❖ Dagny (my robot): Indoor and outdoor navigation
❖ Korean Odroid TurtleBot project!
❖ Ubiquity Robotics: Indoor navigation!
❖ Alex Teichman: 3D perception research
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ROSie
Qualcomm’s Turtlebot with Snapdragon ARM CPU
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ROSie Qualcomm’s Turtlebot with Snapdragon ARM CPU
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Fellow Robotics Dan Barry
Custom platform with Odroid U3, doing indoor navigation.
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Fellow Robotics Dan Barry
Custom platform with Odroid U3, doing indoor navigation.
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Erle Robotics ErleRover!ErleBoard
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Erle Robotics ErleCopters
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Austin Hendrix Dagny: Indoor and outdoor navigation
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Korean Odroid Turtlebot ProjectTurtlebot with Odroid X2!!http://www.ros.or.kr/index.php/Install_ros_on_embedded
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Ubiquity Robotics Hercules: Indoor navigation
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Alex Teichman Asus Xtion Pro on Odroid U3!Perception research
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Alex Teichman For part of his PhD thesis, Alex used this to detect cats walking on countertops.
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Alex Teichman
The final goal was to deter cats from being on the counters.!!It turns out shooting them is less effective than expected.
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Questions?
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Surprise!
❖ Qualcomm is sponsoring ROS development for ARM!!
❖ Official support for ROS on the Qualcomm Snapdragon!
❖ ROS Indigo on Ubuntu in 3 months!
❖ Android in 6 months
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Links❖ My Blog http://namniart.com!
❖ Indigo on ARMhttp://wiki.ros.org/indigo/Installation/UbuntuARM!
❖ Hydro on ARMhttp://wiki.ros.org/hydro/Installation/UbuntuARM!
❖ Groovy on ARMhttp://wiki.ros.org/groovy/Installation/UbuntuARM!
❖ OpenEmbedded http://wiki.ros.org/hydro/Installation/OpenEmbedded