YARP-ROS Inter-Operation in a 2D Navigation Task

Abstract

This paper presents some recent developments in YARP middleware, aimed to improve its integration with ROS. They include a new mechanism to read/write ROS transform frames and a new set of standard interfaces to intercommunicate with the ROS navigation stack. A novel set of YARP companion modules, which provide basic navigation functionalities for robots unable to run ROS, is also presented. These modules are optional, independent from each other, and they provide compatible functionalities to well-known packages available inside ROS framework. This paper also discusses how developers can customize their own hybrid YARP-ROS environment in the way it best suits their needs (e.g., the system can be configured to have a YARP application sending navigation commands to a ROS path planner, or vice versa). A number of available possibilities is presented through a set of chosen test cases applied to both real and simulated robots. Finally, example applications discussed in this paper are also made available to the community by providing snippets of code and links to source files hosted on github repository https://github.com/robotology.

Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies

“…Concerning the navigation capabilities, the robot's wheeled base is equipped with two laser scanners, one at the front and one at the back. We employ an Adaptive Monte Carlo Localization system to localize the robot and an A *based algorithm to compute the path to the destination [35]. The algorithms rely on the odometry and the laser scan inputs.…”

“…At Location: Whenever this condition receives a tick, it sends a request to a localization component, which implements an Adaptive Monte Carlo Localization [35]. The condition returns success if the robot is at the prescribed location, and failure otherwise.…”

“…Goto Location: Whenever this action receives a tick, it sends a request to a navigation component (in our implementation we use the YARP Navigation Stack [35]), and then it waits for the outcome of the navigation (destination reached or path not found). The action returns failure if the navigation component cannot find a collision-free path to Location.…”

Robotic Manipulation and Capture in Space: A Survey

“…In both studies, a torque-controlled kinematically-redundant robotic arm, based on DLR’s robot hardware technology (see Arms, Grippers, and End-Effectors ), was used to provide compliant behavior at contact. Details of the e.Deorbit study were provided in Jaekel et al (2018) . Following the latter study, an Airbus DS-led e.Deorbit Consolidation Phase Study was carried out, based on the Airbus Spacetug and an MDA manipulator, in which the capture is preceded by a contactless detumbling maneuver ( Estable et al, 2020 ).…”

“…Other robot end-effector designs can be found in Jaworski et al (2017) and Jaekel et al (2018) for a mechanism which can also clamp to the launch adapter ring of the target satellite and in Trentlage et al (2016) and Cauligi et al (2020) for Gecko-inspired grippers. A tool for capturing a non-cooperative target is described in Sun et al (2020) .…”