WP6-33 - Revision history

Alm at 10:49, 16 March 2023

2023-03-16T10:49:16Z

← Older revision		Revision as of 10:49, 16 March 2023
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	==Description==		==Description==

	The main toolchain developed within C4D for Almende is our cloud-based simulation platform. This platform is based on off-the-shelf open-source tools, integrated and provided as a simulation-as-a-service offering. The main development driver within the Comp4Drones project were the requirements of UC4Demo2: Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project, and similar simulation objects. This development has led to our Asimovo commercial offering: [https://asimovo.com/]		The main toolchain developed within C4D for Almende is our cloud-based simulation platform. This platform is based on off-the-shelf open-source tools, integrated and provided as a simulation-as-a-service offering. The main development driver within the Comp4Drones project were the requirements of UC4Demo2: Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project, and similar simulation objects. This development has led to our Asimovo commercial offering: [https://asimovo.com/ Asimovo website]

	==Improvements==		==Improvements==

Alm at 10:48, 16 March 2023

2023-03-16T10:48:47Z

← Older revision		Revision as of 10:48, 16 March 2023
Line 26:		Line 26:
	==Description==		==Description==

	The main toolchain developed within C4D for Almende is our cloud-based simulation platform. This platform is based on off-the-shelf open-source tools, integrated and provided as a simulation-as-a-service offering. The main development driver within the Comp4Drones project were the requirements of UC4Demo2: Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project, and similar simulation objects. This development has led to our Asimovo commercial offering: [[https://asimovo.com/]]		The main toolchain developed within C4D for Almende is our cloud-based simulation platform. This platform is based on off-the-shelf open-source tools, integrated and provided as a simulation-as-a-service offering. The main development driver within the Comp4Drones project were the requirements of UC4Demo2: Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project, and similar simulation objects. This development has led to our Asimovo commercial offering: [https://asimovo.com/]

	==Improvements==		==Improvements==

Alm at 10:48, 16 March 2023

2023-03-16T10:48:29Z

← Older revision		Revision as of 10:48, 16 March 2023
Line 26:		Line 26:
	==Description==		==Description==

	~~Simulation~~ of UC4Demo2, Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project. ~~Working towards hardware-in-the-loop as well~~. ~~Explore AR~~/~~VR options.~~		The main toolchain developed within C4D for Almende is our cloud-based simulation platform. This platform is based on off-the-shelf open-source tools, integrated and provided as a simulation-as-a-service offering. The main development driver within the Comp4Drones project were the requirements of UC4Demo2: Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project, and similar simulation objects. This development has led to our Asimovo commercial offering: [[https://asimovo.com/]]

	==Improvements==		==Improvements==

	Current state-of-the-art is Gazebo+~~Single~~-~~ROS~~-~~environment+locally hosted~~, ~~We aim to introduce multiple ROS environments~~ (~~=Multi-master~~), cloud-~~hosted~~, ~~simulation (probably Gazebo, optionally others)~~		Current state-of-the-art in robotic simulation is Gazebo, combined with ROS. This was used as the baseline simulation that we migrated to our cloud offering. However, we added to this the option to run many different simulators and infrastructure, for example: Airsim, Gazebo+ROS2, Plankton, etc. Another important addition to the cloud-based offering is the capability of still running hardware-in-the-loop, where actual hardware (at the user's premises) can work together with the simulations (which run in the cloud) Our cloud-based platform is capable of simulating multiple drones in the same environment, allowing testing and verification of scenarios in cooperation and conflict resolution.

	==Validation==		==Validation==

Alm: Initial text from early deliverables, will need to be updated to final level.

2023-03-15T10:06:35Z

Initial text from early deliverables, will need to be updated to final level.

← Older revision		Revision as of 10:06, 15 March 2023
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	==~~ROS1 & ROS2 infrastructure/dev~~-~~ops~~==		==Cloud-based simulation environment==
	{\|class="wikitable"		{\|class="wikitable"
	\| ID\|\| WP6-33		\| ID\|\| WP6-33
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	\| Require \|\|		\| Require \|\|
	\|-		\|-
	\| Provide \|\| A ~~standard working~~ environment ~~for developing both for ROS and ROS2~~		\| Provide \|\| A cloud-based simulation environment, providing simulation as a service
	\|-		\|-
	\| Input \|\|		\| Input \|\|
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	\| C4D building block \|\|		\| C4D building block \|\|
	\|-		\|-
	\| TRL \|\| 3		\| TRL \|\| 5
	\|-		\|-
	\| Parent Building block \|\| []		\| Parent Building block \|\| []
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	==Description==		==Description==

	~~Providing a standard setup for the development~~ of ~~robotics using ROS1~~, ~~ROS2 and MAVLink interfaces~~. ~~Focus~~ of ~~this standard setup is on~~ the ~~interoperability between~~ the ~~two versions of ROS and external dependencies~~.		Simulation of UC4Demo2, Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project. Working towards hardware-in-the-loop as well. Explore AR/VR options.

	==Improvements==		==Improvements==

	~~Migration from ROS1~~ to ~~ROS2 is not entirely without effort~~, ~~as there are several fundamental technology changes between the versions. This holds for the communication layer~~, ~~but also for the development tools~~, ~~library dependencies and documentation. Through a bridge node it's already possible to have a ROS2 environment connecting and sharing messages with a ROS1 environment.~~		Current state-of-the-art is Gazebo+Single-ROS-environment+locally hosted, We aim to introduce multiple ROS environments (=Multi-master), cloud-hosted, simulation (probably Gazebo, optionally others)

	==Validation==		==Validation==

Alm: Initial text from early deliverables, will need to be updated to final level.

2023-03-15T10:03:53Z

Initial text from early deliverables, will need to be updated to final level.

New page

==ROS1 & ROS2 infrastructure/dev-ops==
{|class="wikitable"
| ID|| WP6-33
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || A standard working environment for developing both for ROS and ROS2
|-
| Input ||
|-
| Output ||
|-
| C4D building block ||
|-
| TRL || 3
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

Providing a standard setup for the development of robotics using ROS1, ROS2 and MAVLink interfaces. Focus of this standard setup is on the interoperability between the two versions of ROS and external dependencies.

==Improvements==

Migration from ROS1 to ROS2 is not entirely without effort, as there are several fundamental technology changes between the versions. This holds for the communication layer, but also for the development tools, library dependencies and documentation. Through a bridge node it's already possible to have a ROS2 environment connecting and sharing messages with a ROS1 environment.

==Validation==