UI_PRI Communication Concept
Service Robotics Group
Institute of System Engineering and Robotics
Bulgarian Academy of Sciences
UI_PRI Communication Concept
Introduction
The primary goal of user interface communication layer is to provide
flexible, reliable and network bandwidth optimized connectivity between
the UI_PRI and ROS infrastructure of the Care-o-Bot robot.
UI_PRI Communication Concept
Types of data:

Mapping and Navigation

Robot control & Robot Feedback (via the DM)

User Feedback on exceptions

Objects visualisation (General DB and Object DB)

Video Streams (Robot Cameras Feed)

3D data and Point Cloud Data (TBD)
UI_PRI Communication Concept
Communication Structure
UI_PRI Communication Concept
Rosbridge
Node that provides dynamic socket and web-socket based
access to the full capabilities of ROS.
Easy access from any remote device supporting sockets and
JSON via single TCP port (default 9090).
Current features and limitations:

Can create ROS topics (with some restrictions of the
data types)

Can publish data to ROS topics;

Can subscribe and read data from ROS topics;

Can call any available ROS services;

Cannot create own ROS services;
UI_PRI Communication Concept
Mixed Reality Server

Uses a single TCP port (default 8080)

Streams the robot camera video feeds;


Merges mapping data, robot position and objects into
single consistent and time synchronized stream;
Provides easy interface to other nodes to draw
information on the map via a topic;
UI_PRI Communication Concept
Robot task control and communication with the Decision
Making (DM) component
The user can execute any task via the DM in the UI_PRI
/srs_control_task/goal

The user will be notified about the result of the task
/srs_control_task/result

In case of exception/error in task execution the DM will ask
the user to provide new map location, object or action
/interface_cmd

UI_PRI Communication Concept
Communication with the Databases and other ROS nodes.


UI_PRI can fetch available object data form the General or Object
databases via standard ROS communication.
Using flexibility of the rosbridge additional communication with
other nodes is possible
Test Webinterface
A simple HTML5 webinterface was created in order to test
communication path via the rosbridge and different ROS
nodes functionality.
Advantages:
No compilation/installation required - as the javascript
programming code is interpreted. This allows very rapid
testing of different conditions
Platform independent – can be tested on varius systems and
network setups
Robot Mapping & Movement
Robot Navigation and
Decission making (DM) component testing
UI_PRI Communication Concept
Thank You!
Presented by Georgi Angelov