RoboticBase / uoa-poc2

An unmaned delivery proof of concept by using multiple autonomous mobile robots connected to RoboticBase.

RoboticBase example: UoA PoC 2

An unmaned delivery proof of concept by using multiple autonomous mobile robots connected to RoboticBase.

This PoC is based of RoboticBase version 0.4.4 and FIWARE Release 7.7.1.

Description

"RoboticBase" is a robot management platform based on FIWARE which enables you to manage and operate many kinds of robots and IoT devices as interactions of contexts.

"RoboticBase" allows robots to collaborate with IoT devices, Open Data, human beings and so on. You can connect a robot to "RoboticBase" using the open APIs of the robot, and operate the robot through those APIs. In turn, "RoboticBase" has an ability to manage ROS. If you connect a ROS robot to "RoboticBase", you can operate the robot directly without restrictions.
For example, you can deploy a ROS program to the robot and access the raw data of the robot through "RoboticBase".

components

platform	summary	version
kubernetes	Container Orchestration Platform	1.14 or higher
robot-controller	Waypoint management, Global route planning, Robot action handling, ...	0.1.0
robot-ui	User interface of mobile robots	0.1.0
ordering	Ordering service using cloud inventory control service	0.1.0
FIWARE orion	Publish/Subscribe Context Broker	2.2.0
FIWARE cygnus	Data collection and Persistence Agent	1.15.0
FIWARE sth-comet	An Agent to manage historical raw and aggregated time series context	2.5.0
FIWARE iotagent-json	Backend Device Management Agent	1.10.0
ambassador	API Gateway	0.73.0
auth	Authorization and Authentication component working with ambassador	0.3.0
RabbitMQ	Distributed Message Queue	3.7.16
MongoDB	Document-oriented NoSQL Database	4.1.13

autonomous mobile robots	summary	version
bridge	ROS package for bridging autonomous mobile robots and FIWARE	0.1.0
ROS	A set of software libraries and tools to build robot applications	Kinetic Kame
Navigation Stack	2D mobile robot navigation using AMCL and LOAM

An experiment to prove our concept

We and University of Aizu have been performed an unmaned delivery experiment on Nov. 26th - 29th , 2019.

Please see below movies:

• short version (4min 5sec)

  

• long version (10min 33sec)

  

Requirements

• kubernetes client PC
  • azure cli is required when you use Azure AKS.

	version
OS	macOS Mojave 10.14.6 or Ubuntu 16.04
azure cli	2.0.63
kubectl	1.14.1
helm	2.13.1

• Azure AKS

	version
region	japaneast
kubernetes	1.14.6

getting started

1. deploy RoboticBase-core v0.4.4

2. install python3

3. install jupyter notebook

   $ cd docs/en-jupyter_notebook/
   $ ./setup_jupyter_notebook.sh

4. start jupyter notebook

   $ ./start_jupyter_notebook.sh

5. execute the commands in order according to the following documents:

   1. start business logics -- 01_start_pods.ipynb.
   2. register mobile robot & ui device to FIWARE -- 02_register_device.ipynb.
   3. register business logic and master data to FIWARE -- 03_register_business_logic.ipynb.
   4. initialize FIWARE entities -- 04_initialize.ipynb.
   5. simulate a scenario to confirm that the platform started correctly -- 05_simulate_scenario.ipynb.

License

Apache License 2.0

Copyright

Copyright (c) 2019 TIS Inc.