The Xacro XML macro language can be used to augment the Universal robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. ...
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ISBN:
(纸本)9781728196817
The Xacro XML macro language can be used to augment the Universal robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. However, members of the robotics community, especially newcomers, struggle to troubleshoot and understand the interplay between systems and the Xacro preprocessing pipeline. To better understand how system developers struggle with Xacros, we manually examine 712 Xacro-related questions from the question and answer site *** and find Xacro misunderstandings fit into eight key categories using a systematic, qualitative approach called Open Coding. By examining the 'tags' applied to questions, we further find that Xacro problems manifest in a befuddlingly broad set of contexts. This hinders onboarding and complicates system developers' understanding of representations and tools in the robot Operating System. We aim to provide an empirical grounding that identifies and prioritizes impediments to users of open robotics systems, so that tool designers, teachers, and robotics practitioners can devise ways of improving robotsoftware tooling and education.
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mainstream in the robotics community, and ...
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ISBN:
(纸本)9781665491907
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mainstream in the robotics community, and hence estimation prototyping tools should allow state definitions that belong to manifolds. A new package, called navlie, provides a framework that allows a user to model a large class of problems by implementing a set of classes complying with a generic interface. Once accomplished, navlie provides a variety of on-manifold estimation algorithms that can run directly on these classes. The package also provides a built-in library of common models, as well as many useful utilities. The open-source project can be found at https://***/decargroup/navlie
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the robot Operating System (ROS), to efficiently implement modular computatio...
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Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2 executor, a high-level task scheduler which handles ROS 2 messages, is a performance bottleneck. We extend ros2_tracing, a framework with instrumentation and tools for real-time tracing of ROS 2, with the analysis and visualization of the flow of messages across distributed ROS 2 systems. Our method detects one-to-many and many-to-many causal links between input and output messages, including indirect causal links through simple user -level annotations. We validate our method on both synthetic and real robotic systems, and demonstrate its low runtime overhead. Moreover, the underlying intermediate execution representation database can be further leveraged to extract additional metrics and high-level results. This can provide valuable timing and scheduling information to further study and improve the ROS 2 executor as well as optimize any ROS 2 system. The source code is available at: ***/christophebedard/ros2-message-flow-analysis.(c) 2023 Elsevier B.V. All rights reserved.
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