A visualisation and simulation framework for local and remote HRI experimentation
Summary (2 min read)
Introduction
- Fortunately, with the increase of computational power, now more than ever, simulation and remote access save time and resources (both physical and budget-related), increasing the productivity of a research team and allowing the community to seamlessly work on the same framework.
- To meet this demand, a recent trend has been the development of remote robotic laboratories [2].
- The combined set of desired features resulting from this demand and its relationship with potential user types is depicted in Fig.
A. ROS framework for the CASIR-IMPEP platform
- ROS is a flexible framework for writing modular robot software, capable of creating complex and robust behaviour in different types of robotic platforms.
- In rqt, a developer can build his/her own perspective from plugins of all the existing GUI tools in ROS, namely image viewer, terminal, 2D plot, node and package graphs, pose viewer and even Rviz itself [10].
- In addition to movement, effort and velocity limits were also implemented, not only to emulate the safety mechanisms of the real IMPEP, but also to further approximate the behaviour between both versions of the robot.
- The developer can abstract from the complexity of communication, seeing only sensor msg/image type messages.
- A running instantiation of the GUI is presented in Fig. 9. D. Implementation details for the web service supporting the CASIR-IMPEP remote lab.
IV. RESULTS AND DISCUSSION
- Exhaustive tests were also conducted to evaluate visualisation performance, either running the GUI directly in the main computer or passing topics to the visualisation computer, where they were shown using the rqt interface running in a local ROS installation.
- Performance was found to be coherent with previous results: CPU drops significantly after taking out the UI and even further with remote visualisation.
- In order to benchmark network resource usage, the remote lab was tested through three separate internet connections, specified in Table III.
- Additionally, in all experimental runs the chosen browser was Google Chrome (the most optimized for Web video server applications; in point 3-Latency of [10].).
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"A visualisation and simulation fram..." refers background in this paper
...According to [12], currently there are about 40 simulation tools used by the scientific community....
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47 citations
"A visualisation and simulation fram..." refers background in this paper
...The motivations for this work can be found in [4], while conceptual and implementation details are reported in [5]....
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47 citations
"A visualisation and simulation fram..." refers background in this paper
...tables and bookshelves); some additional objects in the room were purposely modelled as being red, so as to add perceptually salient entities, which can be used as potential distractors in attention studies [22]....
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24 citations
"A visualisation and simulation fram..." refers background or methods in this paper
...The motivations for this work can be found in [4], while conceptual and implementation details are reported in [5]....
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...The expected outcome of this work was a unified ROSsupported framework designed so as to attain the objectives laid down in section I, allowing the CASIR attention middleware described in [5] to be used within the context defined by those objectives and the use of the IMPEP platform....
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1 citations
"A visualisation and simulation fram..." refers background in this paper
...A detailed description of the work presented herewith can be found in [24]....
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