Hacking a robot

Previous post have summarized “THE HACKATHON” in TouK. Today we will present one of the projects in greater detail – “Lidar/ROS.org based robot”. Our team wanted to either transport sandwiches or monitor WiFi quality in the office. Not deciding on the final goal we immediately saw that mobile robot platform will be needed in both cases.

Analysis

Some of our coworkers own Xiaomi vacuum cleaners. Such robot can be managed from mobile app which displays accurate map of your premises and allows to select areas that need cleaning. Xiaomi robot looked promising but two problems arose. First, the price is significant. Second, the communication protocol is not open. There are libraries on GitHub which try to reverse engineer the details but quick analysis has shown that we may end up stuck on some irritating problem and fail to realise our goals.

Closer examination of Xiaomi robot has revealed the core piece that allows it to automatically navigate around the house. It is LIDAR – laser distance measurement device. Another brand of Roomba vacuum cleaners relies on camera-like sensor instead. As computer vision seemed more difficult to approach we have decided on using LIDAR to build two-dimensional map of robot’s surroundings and navigate around the office.

Hardware

LIDAR technology is not as cheap as simple ultrasonic distance sensors but we have found two promising solutions on the market: YDLIDAR and RPLIDAR. Both brands are lines of different products with increasing capabilities and prices but the basic ones were within our budget. Quick comparison has shown that parameters of respective lowest-end models are similiar so we decided to order YDLIDAR because it was the quickest to ship from Amazon to Poland.

One thing to note is that core LIDAR component can be acquired for even lower price but such device will have fixed line of sight. Our chosen model, just like the one built into Xiaomi, has full 360 degree rotating head. It makes 5 to 10 rotations per second scanning 5 thousand points in that time. The output data stream contains angle and distance for each measured point.

For our robot we needed a mobile base. Common choice is base with two motorized wheels plus one or two support wheels that freely rotate in all directions giving minimal friction. We discarded that option because such simple bases for amateur constructions have weak motors and we had quite a load to put on top. Professional bases with two powerful motors are expensive. In the end we bought four-wheeled base with independent low-grade DC motors driving each wheel. The wheels are not steerable – turning is done like in a tank. Our kit was also equipped with two motor encoders – devices that measure how many times wheel has rotated – we will try to use that knowledge later.

According to the manufacturer’s data our base can bear 800 grams of load. We have put there:

  • Raspberry Pi 3 B+, the most powerful model available
  • Arduino Uno
  • 4-channel motor shield for Arduino
  • YDLIDAR
  • LiPo battery pack
  • DC voltage regulators

We have decided that our robot should be fully autonomous so all the data processing will happen on-board using Raspberry Pi. It was connected via USB with Arduino which was used to control motors using standard Arduino-compatible controller. We knew that RPi has GPIO pins that can be used to control peripherals like Arduino would but we wanted to separate the concerns and use all the power of RPi for other responsibilities.

Ross robot
Ross robot

Software

We have assembled a mobile base with YDLIDAR mounted on top but YDLIDAR itself cannot build a complete map of our office and navigate around it. We needed algorithms that could interpret incoming data stream of distance measurements and convert it into usable map. We have found the ROS.org project. It is called Robot Operating System but instead of being full OS it is Linux-based framework – collection of tools and algorithms that makes programing robots easier. As hackathon was designed to deliver working products each team was given time to prepare before the main event. We have spent that time on learning ROS and gathering main components for our robot.

ROS is capable of handling LIDAR data, building a map and performing navigation of robot. If some feature is not available in ROS it can be added by coding of a “node” – separate program that communicates with another nodes using “topics” – ordered streams of events. Fortunately, all parts of our use case were already available as standard ROS nodes, topics and event types. YDLIDAR’s manufacturer provided custom ROS-compatible node which handles low-level interaction with device. There is also an Arduino relay library that makes it possible to write Arduino code that directly subscribes and publishes events to ROS topics.

Having written less than 100 lines of ROS nodes’ launch configuration in XML and less that 100 lines of Arduino code, we were able to remote control our robot and see the map on screen. We have used separate notebook which handled joystick controller and displayed a map. The notebook was configured as ROS slave connected over WiFi to ROS master running on RPi. Below we show how simple it was to setup USB joystick controller:

<launch>
  <node pkg="joy"
        type="joy_node"
        name="ross_joy"
        respawn="true" >

    <param name="autorepeat_rate" value="10" />
  </node>

  <node pkg="teleop_twist_joy"
        type="teleop_node"
        name="ross_teleop"
        respawn="true" >

    <param name="scale_linear" value="0.3" />
    <param name="scale_angular" value="0.3" />
  </node>
</launch>

Unexpected problems and spontaneous solutions

During the hackathon days we have experienced some difficulties. As we were not able to test full robot assembly before the main event, some problems have surfaced very late in the process and dirty solutions must have been quickly hacked.

First problem: power source. During initial tests we used 24V DC power source connected to wall power. It had to be calibrated because internal protection cut off the power when current drawn by motors become too high. We also had 12V LiPo battery for final tests and show. Different input voltages were converted by on-board step-down regulators. One has provided 5V needed by RPi, Arduino and YDLIDAR. Second regulator fed 10V to the motors. During the tests it appeared that YDLIDAR cannot be powered from RPi’s USB port because its voltage was not stable enough. In the end we have connected YDLIDAR power input directly to 5V output from appropriate regulator.

Second problem: jerky movement. We thought (because ROS wiki suggested so) that it would be a good design to include PID controller driving the wheels. It is an algorithm that tries to maintain one value (in our case: measured actual speed of wheels) by varying another value that directly influences the first (in our case: power applied to motors). After some tests we have disabled PID controller because it requires fine tuning to behave correctly. As our rotational wheel encoders report only 10 ticks per revolution, the PID was confused by such low measurement resolution and tried to vary motor power too sharply rendering smooth movement impossible. We believe it can be tuned properly but during the hackathon we have setup joystick to directly control motors’ power, and not robot’s target speed, making human operator responsible for adjustments.

Third problem: faulty encoders. Our will to have wheel encoders originated not from possibility to enable PID controller, but from opportunity to increase mapping precision. Knowing how much robot has moved can help to better correlate data from multiple laser scans, producing more accurate map. Unfortunately, one of encoders appeared to work incorrectly, reporting too few ticks per revolution. Not having much time to investigate that we decided to disconnect encoders completely.

Making maps

At the beginning of second day we have already known main limitations of hardware and software and decided that we will use those parts that work predictably. We confirmed that PID controller was not neccessary for our purposes and mapping can be done using laser data only. We decided to enable simplest mapping algorith in ROS – a method called Hector SLAM. We could start first tests.

At first we mapped small room with two desks in it and a glass door. We have put additional objects in the middle to see how their presence would be handled. Everything worked smoothly using default parameters of Hector method. We also confirmed that it is easy to overlay map with additional data coming from sensors – in our case it was simple photoresistor measuring light intensity in the room.

Room
Room

Then we moved onto mapping bigger area – the hall between rooms. There is additional wall dividing it in the middle and a pillar. We added few other objects. During the tests robot was wired to the power source. We tested how to move our bodies around so to not interfere with the measurements. It appeared that after mapping initial fragment it is safe to walk around and Hector algorithm will ignore moving objects. Only after staying for too long in the same place our legs started to be included as part of the map.

Hall
Hall

Final test shows straight corridor. Its map is bended and we are not sure of the cause. It may be related to slow scan rate of YDLIDAR which accumulates error during robot’s movement.

Corridor
Corridor

Future work

Having learnt ROS before the hackathon and solved mostly hardware-related problems during the event, we have shown that map building is possible even with simple setup. We would like to expand the algorithmic part of the solution, enabling our robot to autonomously move in the office environment. Proper navigation components are already available in ROS.

Conclusions

ROS is a powerful tool that can be used both by amateurs and proffesionals. Its sophisticated architecture allows for complex definitions and management of industrial-grade robots, but can also fit in quick and dirty home projects. For us the biggest challenges lied in the hardware layer, but having electronic engineer on the team helped to connect all the parts together. All Ross team members are happy with results and wish to continue the project.

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How to automate tests with Groovy 2.0, Spock and Gradle

This is the launch of the 1st blog in my life, so cheers and have a nice reading!

y u no test?

Couple of years ago I wasn't a big fan of unit testing. It was obvious to me that well prepared unit tests are crucial though. I didn't known why exactly crucial yet then. I just felt they are important. My disliking to write automation tests was mostly related to the effort necessary to prepare them. Also a spaghetti code was easily spotted in test sources.

Some goodies at hand

Now I know! Test are crucial to get a better design and a confidence. Confidence to improve without a hesitation. Moreover, now I have the tool to make test automation easy as Sunday morning... I'm talking about the Spock Framework. If you got here probably already know what the Spock is, so I won't introduce it. Enough to say that Spock is an awesome unit testing tool which, thanks to Groovy AST Transformation, simplifies creation of tests greatly.

An obstacle

The point is, since a new major version of Groovy has been released (2.0), there is no matching version of Spock available yet.

What now?

Well, in a matter of fact there is such a version. It's still under development though. It can be obtained from this Maven repository. We can of course use the Maven to build a project and run tests. But why not to go even more "groovy" way? XML is not for humans, is it? Lets use Gradle.

The build file

Update: at the end of the post is updated version of the build file.
apply plugin: 'groovy'
apply plugin: 'idea'

def langLevel = 1.7

sourceCompatibility = langLevel
targetCompatibility = langLevel

group = 'com.tamashumi.example.testwithspock'
version = '0.1'

repositories {
mavenLocal()
mavenCentral()
maven { url 'http://oss.sonatype.org/content/repositories/snapshots/' }
}

dependencies {
groovy 'org.codehaus.groovy:groovy-all:2.0.1'
testCompile 'org.spockframework:spock-core:0.7-groovy-2.0-SNAPSHOT'
}

idea {
project {
jdkName = langLevel
languageLevel = langLevel
}
}
As you can see the build.gradle file is almost self-explanatory. Groovy plugin is applied to compile groovy code. It needs groovy-all.jar - declared in version 2.0 at dependencies block just next to Spock in version 0.7. What's most important, mentioned Maven repository URL is added at repositories block.

Project structure and execution

Gradle's default project directory structure is similar to Maven's one. Unfortunately there is no 'create project' task and you have to create it by hand. It's not a big obstacle though. The structure you will create will more or less look as follows:
<project root>

├── build.gradle
└── src
├── main
│ ├── groovy
└── test
└── groovy
To build a project now you can type command gradle build or gradle test to only run tests.

How about Java?

You can test native Java code with Spock. Just add src/main/java directory and a following line to the build.gradle:
apply plugin: 'java'
This way if you don't want or just can't deploy Groovy compiled stuff into your production JVM for any reason, still whole goodness of testing with Spock and Groovy is at your hand.

A silly-simple example

Just to show that it works, here you go with a basic example.

Java simple example class:

public class SimpleJavaClass {

public int sumAll(int... args) {

int sum = 0;

for (int arg : args){
sum += arg;
}

return sum;
}
}

Groovy simple example class:

class SimpleGroovyClass {

String concatenateAll(char separator, String... args) {

args.join(separator as String)
}
}

The test, uhm... I mean the Specification:

class JustASpecification extends Specification {

@Unroll('Sums integers #integers into: #expectedResult')
def "Can sum different amount of integers"() {

given:
def instance = new SimpleJavaClass()

when:
def result = instance.sumAll(* integers)

then:
result == expectedResult

where:
expectedResult | integers
11 | [3, 3, 5]
8 | [3, 5]
254 | [2, 4, 8, 16, 32, 64, 128]
22 | [7, 5, 6, 2, 2]
}

@Unroll('Concatenates strings #strings with separator "#separator" into: #expectedResult')
def "Can concatenate different amount of integers with a specified separator"() {

given:
def instance = new SimpleGroovyClass()

when:
def result = instance.concatenateAll(separator, * strings)

then:
result == expectedResult

where:
expectedResult | separator | strings
'Whasup dude?' | ' ' as char | ['Whasup', 'dude?']
'2012/09/15' | '/' as char | ['2012', '09', '15']
'nice-to-meet-you' | '-' as char | ['nice', 'to', 'meet', 'you']
}
}
To run tests with Gradle simply execute command gradle test. Test reports can be found at <project root>/build/reports/tests/index.html and look kind a like this.


Please note that, thanks to @Unroll annotation, test is executed once per each parameters row in the 'table' at specification's where: block. This isn't a Java label, but a AST transformation magic.

IDE integration

Gradle's plugin for Iintellij Idea

I've added also Intellij Idea plugin for IDE project generation and some configuration for it (IDE's JDK name). To generate Idea's project files just run command: gradle idea There are available Eclipse and Netbeans plugins too, however I haven't tested them. Idea's one works well.

Intellij Idea's plugins for Gradle

Idea itself has a light Gradle support built-in on its own. To not get confused: Gradle has plugin for Idea and Idea has plugin for Gradle. To get even more 'pluginated', there is also JetGradle plugin within Idea. However I haven't found good reason for it's existence - well, maybe excluding one. It shows dependency tree. There is a bug though - JetGradle work's fine only for lang level 1.6. Strangely all the plugins together do not conflict each other. They even give complementary, quite useful tool set.

Running tests under IDE

Jest to add something sweet this is how Specification looks when run with jUnit  runner under Intellij Idea (right mouse button on JustASpecification class or whole folder of specification extending classes and select "Run ...". You'll see a nice view like this.

Building web application

If you need to build Java web application and bundle it as war archive just add plugin by typing the line
apply plugin: 'war'
in the build.gradle file and create a directory src/main/webapp.

Want to know more?

If you haven't heard about Spock or Gradle before or just curious, check the following links:

What next?

The last thing left is to write the real production code you are about to test. No matter will it be Groovy or Java, I leave this to your need and invention. Of course, you are welcome to post a comments here. I'll answer or even write some more posts about the subject.

Important update

Spock version 0.7 has been released, so the above build file doesn't work anymore. It's easy to fix it though. Just remove last dash and a word SNAPSHOT from Spock dependency declaration. Other important thing is that now spock-core depends on groovy-all-2.0.5, so to avoid dependency conflict groovy dependency should be changed from version 2.0.1 to 2.0.5.
Besides oss.sonata.org snapshots maven repository can be removed. No obstacles any more and the build file now looks as follows:
apply plugin: 'groovy'
apply plugin: 'idea'

def langLevel = 1.7

sourceCompatibility = langLevel
targetCompatibility = langLevel

group = 'com.tamashumi.example.testwithspock'
version = '0.1'

repositories {
mavenLocal()
mavenCentral()
}

dependencies {
groovy 'org.codehaus.groovy:groovy-all:2.0.5'
testCompile 'org.spockframework:spock-core:0.7-groovy-2.0'
}

idea {
project {
jdkName = langLevel
languageLevel = langLevel
}
}