Developing An
Autonomous App For
Controlling Turtlebot
Final Project Presentation
Winter 2013/2014
Amin Asfour & Bshara Simaan
Supervisor: Sharon Temtsin
Motivation
 Developing an autonomous App for controlling
Turtlebot that has a gripper attached to it
What Is Turtlebot ?
 Turtlebot gives a new dimension of possibilities to your
Kinect hacking: the ability to drive.
 Turtlebot can explore your house on its own, build 3D
pictures, bring you food, take panoramas, and more.
 Turtlebot comes with an open-source SDK based on ROS
to help you develop applications right out of the box.
What Is ROS ?
 Open Source
 Operating System Middleware
Why ROS ?
 Code Reuse!
 Scalability
 Language independent
 Community Support
Android Studio
 Android Studio is a new Android development
environment .
 Similar to Eclipse with the ADT Plugin
Connecting it all together
Services
Topics
Our Application
Main features
Overview
Joystick
Gripper
• Publishes Twist Messages
• Sends a request to open/close grip
• Receives Output Response from service
Feed View
• Polls camera topic and
displays the received data
on screen
Design Problem
 Early unstable stages of rosjava
 Making Service Call to custom services not 100%
supported
Solution Implementation
 Early unstable stages of rosjava
 Stick with an old branch
 Making Service Call to custom services not 100%
supported
 Publisher/Subscriber Hack
Experience
• ROS
• Android Packages
• Topics/Services
• Ubuntu
o “Linux is only free if your time has no value.” Jamie Zawinski
Demo Time!