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  #16   Spotlight this post!  
Unread 06-27-2018, 07:11 PM
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Re: paper: ZebROS 1.0: ROS for FRC

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Speak of the devil - your name is in the paper. Along with some others...
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Originally Posted by KJaget View Post
Legacy and/or blame. It is a fine line.
I appreciate the shout out. And hey now, I didn't recommend switching everything to ROS in a year haha. Though, now that you have done it, next year should be really interesting!
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Unread 06-27-2018, 07:26 PM
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Re: paper: ZebROS 1.0: ROS for FRC

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Originally Posted by Adithya Balaji View Post
I appreciate the shout out. And hey now, I didn't recommend switching everything to ROS in a year haha. Though, now that you have done it, next year should be really interesting!
I like that the paper has about 150 downloads at this point and I can only surmise that almost all of them are from former Zebracorns based on the comments so far.
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Unread 06-27-2018, 10:34 PM
ngreen ngreen is offline
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Re: paper: ZebROS 1.0: ROS for FRC

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Originally Posted by marshall View Post
I like that the paper has about 150 downloads at this point and I can only surmise that almost all of them are from former Zebracorns based on the comments so far.
I downloaded it. Read about 20 pages, at which point I was treading water not swimming. I appreciate the bleeding edge work, but I just didn't see the payoff for FRC, at least right now. Maybe once the path is more sufficiently forged. My comment would just be that in a year or two, if things progress that way, that something akin to a getting started document, rather than a more documented paper, would be more inviting to step into ROS. Which I think they'd be people interested in introducing it to their students, even if they may not be using all the things that increase its worth (co-processors, certain sensors, etc). The last two years during outreach events I've had a robot hobbyist approach me and talk, and he asks me why we don't program with ROS. I am glad to at least tell him that some teams do and then I try to convince him to come to our meetings (his kid is in 3rd grade, so maybe in a few years).
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Unread 06-27-2018, 11:43 PM
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Re: paper: ZebROS 1.0: ROS for FRC

Our team has been looking forward to the release of your white paper since it we first heard about it. The students had decided they wanted to combine the lidar, jetson, and ROS for an off-season project. We really had no idea where to start, or any experience with this these systems. Since your team was able to make these things work together, our students are even more motivated to work on this project.

I foresee many long nights and long weekends between now and January.
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Unread 06-29-2018, 07:15 PM
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Re: paper: ZebROS 1.0: ROS for FRC

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Regarding the starting scripts, was the robotCommand script just not running? I'd be interested in helping to figure that issue out, as it might help make the WPILib startup simpler as well.
The robotCommand script is only set up when you deploy code through Eclipse, which we didn't use at all this season. And since we had nodes running on both the roboRIO and the Jetson, it was better to just use the network capabilities we had with ROS to launch all of those nodes from one central location -- that is, the Jetson, which was easier to work with than the RIO anyway.
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Unread 06-30-2018, 12:25 AM
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Re: paper: ZebROS 1.0: ROS for FRC

Year after year, 900 astounds me with the abilities of FIRST students and robots in FRC.

Congratulations, and I can't wait to try out some ROS in the offseason!
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Unread 07-14-2018, 06:43 PM
agamemnon agamemnon is offline
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Re: paper: ZebROS 1.0: ROS for FRC

That was a really interesting read, very impressive work. I'm probably going to try this out myself. I've thought about using ROS on an FRC robot but never got around to trying.

However, the way I was thinking about it was running the roscore and most nodes offboard the RoboRIO and just using a ROS java library or roscpp on the RIO itself to do hardware/field interfacing (controlling talons, interacting with DS and FMS, etc). Is that an approach you considered? I'm curious to hear from people that have spent a lot more time thinking about this than me..
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Unread 07-14-2018, 08:17 PM
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Thumbs up Re: paper: ZebROS 1.0: ROS for FRC

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Originally Posted by agamemnon View Post
That was a really interesting read, very impressive work. I'm probably going to try this out myself. I've thought about using ROS on an FRC robot but never got around to trying.

However, the way I was thinking about it was running the roscore and most nodes offboard the RoboRIO and just using a ROS java library or roscpp on the RIO itself to do hardware/field interfacing (controlling talons, interacting with DS and FMS, etc). Is that an approach you considered? I'm curious to hear from people that have spent a lot more time thinking about this than me..
Effectively thatís what weíve done at this point. The hardware interface has to go through the rRIO. If you want to take advantage of ROS then itís ideal to do a bit more than just send basic control though. You want to utilize the ROS node framework and do things in a more ROS oriented way. Itís what necessitated the full rewrite that we did and why, amazing as it may be, the work that Tufts has done to integrate LabVIEW with ROS just isnít enough for us.
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Unread 07-16-2018, 03:33 PM
agamemnon agamemnon is offline
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Re: paper: ZebROS 1.0: ROS for FRC

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Originally Posted by marshall View Post
Effectively thatís what weíve done at this point. The hardware interface has to go through the rRIO. If you want to take advantage of ROS then itís ideal to do a bit more than just send basic control though. You want to utilize the ROS node framework and do things in a more ROS oriented way. Itís what necessitated the full rewrite that we did and why, amazing as it may be, the work that Tufts has done to integrate LabVIEW with ROS just isnít enough for us.
Fair enough, I was just trying to think of how you could run ROS without having to cross-compile an entire ROS install for the RIO. But then again, maybe I'm underestimating how many dependencies you'd have to cross compile to get roscpp working anyway, and I've never used ros_control so it wouldn't have occurred to me to want that on the RIO as well.

Great work again, can't wait to try it out.
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Unread 07-16-2018, 07:04 PM
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Re: paper: ZebROS 1.0: ROS for FRC

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Originally Posted by agamemnon View Post
Fair enough, I was just trying to think of how you could run ROS without having to cross-compile an entire ROS install for the RIO. But then again, maybe I'm underestimating how many dependencies you'd have to cross compile to get roscpp working anyway, and I've never used ros_control so it wouldn't have occurred to me to want that on the RIO as well.

Great work again, can't wait to try it out.
Not trying to drive any particular approach, but the pain in a ROS for RIO cross compile is mainly in getting the first few packages going. Adding more after that is mostly painless - a few packages act up but the majority just work once you have things set up correctly to get any built.

And ros_control is a bit of a mind-bender until you try it, and then it makes a lot of sense. Most RIO-based HW interfaces map pretty cleanly. The talons are an exception, but that mostly depends on how many of the features you expose to users.
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Unread 07-31-2018, 07:25 PM
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Re: paper: ZebROS 1.0: ROS for FRC

https://roscon.ros.org/2018/#day-2-september-30th

Congratulations Anja, Olivia, Niall, and Ryan. You crazy international robot rock stars!
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Unread 08-08-2018, 08:22 PM
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Re: paper: ZebROS 1.0: ROS for FRC

For Wednesday night and Thursday day this site has a free ROS book. https://www.packtpub.com/packt/offers/free-learning/
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