WEBVTT 00:00.000 --> 00:10.000 OK, so now, next talk, Francisco Martin Rico, 00:10.000 --> 00:13.000 on Francisco Miguel Moreno, the University of Rejoin Carlos, 00:13.000 --> 00:15.000 and I'm going to talk about isinab, which is a cool new, 00:15.000 --> 00:17.000 alternative to NAF2. 00:17.000 --> 00:18.000 Thank you. 00:18.000 --> 00:19.000 Thank you. 00:19.000 --> 00:20.000 Thank you. 00:20.000 --> 00:26.000 Hi everybody, we are very happy to be here 00:26.000 --> 00:28.000 and represent in a good war, isinab, 00:28.000 --> 00:31.000 in our first, first time we are here, 00:31.000 --> 00:33.000 and it's amazing, here. 00:33.000 --> 00:35.000 We are in the leading role of this lab, 00:35.000 --> 00:37.000 and we are going to talk about the University, 00:37.000 --> 00:40.000 and we will talk about the products we play with. 00:40.000 --> 00:44.000 Well, I'm going to talk about the University, 00:44.000 --> 00:46.000 and the leadership of the leading of this lab. 00:46.000 --> 00:48.000 I was curious, and I'm going to tell you, 00:48.000 --> 00:49.000 I'm going to talk about the first two, 00:49.000 --> 00:50.000 I'm going to talk about book, 00:50.000 --> 00:52.000 I'm going to talk about the first two, 00:52.000 --> 00:58.000 and I joined the lab like three years ago. 00:58.000 --> 01:01.000 I haven't done many things in my life, 01:01.000 --> 01:03.000 because it's been a bit shorter. 01:03.000 --> 01:06.000 Right now, I'm sorry. 01:06.000 --> 01:08.000 I am less experienced. 01:08.000 --> 01:11.000 Right now, I'm just trying to keep my kid 01:11.000 --> 01:14.000 have as green as his, which is a very, very difficult task. 01:14.000 --> 01:15.000 Yeah. 01:15.000 --> 01:17.000 I am also after off-road two-planning system, 01:17.000 --> 01:19.000 cascade-like cycle, 01:19.000 --> 01:24.000 spaces two, and many other packets in my. 01:24.000 --> 01:26.000 Some introductions. 01:26.000 --> 01:27.000 Okay. 01:27.000 --> 01:29.000 We are going to talk about robot navigation. 01:29.000 --> 01:32.000 It's a fundamental skill for mobile robots. 01:32.000 --> 01:40.000 I think it's more complex task that a robot has to do. 01:40.000 --> 01:41.000 It's not solved. 01:41.000 --> 01:44.000 So many people say of their navigation is solved, 01:44.000 --> 01:46.000 and the eighties, no, it's not true. 01:46.000 --> 01:49.000 And if you say that, you have never make a robot navigate. 01:49.000 --> 01:52.000 So, a great flag. 01:52.000 --> 01:59.000 And until the open-source framework appear, 01:59.000 --> 02:03.000 before that, every time you have to navigate with a robot, 02:03.000 --> 02:06.000 you have to develop your own navigation framework, 02:06.000 --> 02:07.000 navigation system. 02:07.000 --> 02:10.000 Probably it dies when the project finished, 02:10.000 --> 02:13.000 when you change the robot, you have to implement it 02:13.000 --> 02:16.000 until it rolls up here. 02:16.000 --> 02:20.000 Because we rolls. 02:20.000 --> 02:24.000 It was the first time a framework like movies. 02:24.000 --> 02:28.000 It was the navigation framework for, for, for, for, 02:28.000 --> 02:34.000 a make navigate thousand of robots in hundred of companies 02:34.000 --> 02:36.000 and universities around the world. 02:36.000 --> 02:42.000 This is the famous marathon that they did in 2010. 02:42.000 --> 02:46.000 And after that, when Ross Chu appear, 02:46.000 --> 02:50.000 Steve Masiski decided to do a really sign 02:50.000 --> 02:52.000 a representation of base called, 02:52.000 --> 02:55.000 that many of you know. 02:55.000 --> 02:59.000 With practice, in Ross Chu, many components, 02:59.000 --> 03:03.000 very reliable. 03:03.000 --> 03:06.000 And well, this is the famous marathon Chu. 03:06.000 --> 03:08.000 I am one of the author of the, 03:08.000 --> 03:11.000 I am one of the two reference paper, 03:11.000 --> 03:12.000 so I am a contributor. 03:12.000 --> 03:15.000 And actually the marathon was carried out by a laboratory 03:15.000 --> 03:19.000 in the world of universities that is Madrid in Spain. 03:19.000 --> 03:23.000 So this is like, not too looks like. 03:23.000 --> 03:26.000 No students were harmed during the experience. 03:26.000 --> 03:27.000 Yes. 03:27.000 --> 03:31.000 Yes, it was, uh, Ultramarathon is 22 hours navigating 03:31.000 --> 03:34.000 without stopping the robot with an emergency stop. 03:34.000 --> 03:40.000 And it was 80 kilometers in around three, three days. 03:40.000 --> 03:43.000 Okay. All that you see here at the point, 03:43.000 --> 03:47.000 that not part of the static map are students in the corridors 03:47.000 --> 03:51.000 of the university. 03:51.000 --> 03:53.000 Okay. 03:53.000 --> 03:59.000 So, um, today we came here to share our new open source 03:59.000 --> 04:02.000 of the Asian framework, which we called, 04:02.000 --> 04:05.000 east navigation or a sorted east enough. 04:05.000 --> 04:08.000 And you may be asking, why? 04:08.000 --> 04:11.000 Why another navigation framework? 04:11.000 --> 04:12.000 Why? 04:12.000 --> 04:13.000 Is it needed? 04:13.000 --> 04:14.000 What? 04:14.000 --> 04:17.000 We have been working with some projects, 04:17.000 --> 04:20.000 some robots mainly outdoors. 04:20.000 --> 04:24.000 Maybe you can have, uh, go back for a second. 04:24.000 --> 04:27.000 Some scenarios where you have maybe stairs, 04:27.000 --> 04:31.000 maybe you have a golf course, and, you know, 04:31.000 --> 04:33.000 the air is not flat. 04:33.000 --> 04:37.000 And sometimes, and when you're using that too, 04:37.000 --> 04:41.000 you have restricted to using the cost map. 04:41.000 --> 04:45.000 You can use maybe the, the, the, the box alone, 04:45.000 --> 04:51.000 but if you want to make those applications work with 04:51.000 --> 04:52.000 enough too, you can. 04:52.000 --> 04:55.000 But sometimes you have to rely on some hacks. 04:55.000 --> 04:56.000 We've done it. 04:56.000 --> 04:58.000 We've done it before, but sometimes, you know, 04:58.000 --> 04:59.000 everybody does. 04:59.000 --> 05:00.000 Everybody does. 05:00.000 --> 05:05.000 So, uh, the idea was that we wanted to offer more options, 05:05.000 --> 05:09.000 and to have another framework to work on these projects easier. 05:09.000 --> 05:12.000 And we also wanted to provide a community, 05:12.000 --> 05:13.000 these options. 05:13.000 --> 05:16.000 You know, so being able to adapt to the different scenarios and so on, 05:16.000 --> 05:18.000 and we are hearing for them, 05:18.000 --> 05:21.000 we obviously believe in free and open source, right? 05:22.000 --> 05:27.000 And we believe that open source is also having the freedom to choose, 05:27.000 --> 05:28.000 okay? 05:28.000 --> 05:32.000 And some of us, well, some people use, 05:32.000 --> 05:35.000 or choose to use Ubuntu, or just don't. 05:35.000 --> 05:36.000 It's okay. 05:36.000 --> 05:37.000 We can all be happy. 05:37.000 --> 05:41.000 And we believe that having alternatives is a good thing. 05:41.000 --> 05:43.000 And that it was granted the whole ecosystem. 05:43.000 --> 05:44.000 Yeah, I don't know. 05:44.000 --> 05:47.000 Well, happened at Braille Stima Siski, 05:47.000 --> 05:50.000 things, oh, I get all these money, 05:50.000 --> 05:53.000 and I close enough to, maybe that can happen. 05:53.000 --> 05:54.000 I hope that happens. 05:54.000 --> 05:55.000 I hope that doesn't happen. 05:55.000 --> 05:57.000 So it's good to have more options. 05:57.000 --> 05:59.000 Uh, the key here, uh, 05:59.000 --> 06:03.000 we have never aimed to replace enough to, okay? 06:03.000 --> 06:05.000 We did, we do have my, uh, 06:05.000 --> 06:06.000 not to. 06:06.000 --> 06:09.000 It's been clear inspiration in, uh, 06:09.000 --> 06:11.000 in the design for isn't that. 06:11.000 --> 06:12.000 And we still continue to use, 06:12.000 --> 06:14.000 and even to teach enough to our students. 06:15.000 --> 06:18.000 So the, our goal was just to offer more flexibility, 06:18.000 --> 06:22.000 and to provide an alternative to those specific use cases, 06:22.000 --> 06:24.000 where not to, is maybe, 06:24.000 --> 06:27.000 not the most suitable thing. 06:27.000 --> 06:28.000 Okay. 06:28.000 --> 06:29.000 So now have our little demo time. 06:29.000 --> 06:30.000 Yes. 06:30.000 --> 06:31.000 Like demo. 06:33.000 --> 06:34.000 Yes. 06:34.000 --> 06:37.000 So I'm going to start, you know. 06:39.000 --> 06:42.000 I'm going to run the, 06:42.000 --> 06:44.000 the simulator about headless, 06:44.000 --> 06:46.000 because I don't want to waste, uh, 06:46.000 --> 06:48.000 uh, GPU here. 06:48.000 --> 06:50.000 And I'm going to run is enough. 06:50.000 --> 06:52.000 As scenario is, uh, 06:52.000 --> 06:55.000 Roast to run, only one, one five, one process, 06:55.000 --> 06:57.000 with only one configuration five. 06:57.000 --> 07:00.000 Single process, single parameter five. 07:00.000 --> 07:03.000 Um, this is how it looks like. 07:03.000 --> 07:05.000 And armies, which is open. 07:05.000 --> 07:07.000 Yes. Now, uh, in this scenario, 07:07.000 --> 07:08.000 you have several stacks. 07:08.000 --> 07:10.000 This is the cost map stack. 07:10.000 --> 07:12.000 It's only to demonstrate that at least, 07:12.000 --> 07:13.000 we can do the same. 07:13.000 --> 07:14.000 I've enough to. 07:14.000 --> 07:16.000 So the robot is here. 07:18.000 --> 07:20.000 You have the inflation inflation. 07:20.000 --> 07:22.000 You have a cost map. 07:22.000 --> 07:24.000 You can put here. 07:25.000 --> 07:29.000 I know, uh, goal and the robot go to the goal. 07:29.000 --> 07:31.000 So more or less the same. 07:31.000 --> 07:33.000 And enough to can do. 07:33.000 --> 07:36.000 You can, you see here, 07:36.000 --> 07:39.000 the map because it supports dynamic object. 07:39.000 --> 07:40.000 That's what it says. 07:40.000 --> 07:41.000 The apps that they run. 07:41.000 --> 07:42.000 So what? Okay. 07:42.000 --> 07:43.000 Let's close. 07:45.000 --> 07:47.000 This is our first demo. 07:48.000 --> 07:50.000 Let's return to the presentation. 07:56.000 --> 07:57.000 Great. 07:57.000 --> 08:00.000 So, uh, 08:00.000 --> 08:03.000 when we started this like almost a year ago, 08:03.000 --> 08:06.000 it's not been a long time. 08:06.000 --> 08:08.000 Uh, as I said before, 08:08.000 --> 08:09.000 obviously, 08:09.000 --> 08:11.000 not two was an inspiration. 08:11.000 --> 08:14.000 And not two is a complex piece of software. 08:14.000 --> 08:15.000 It's not a simple thing. 08:15.000 --> 08:17.000 It has a very well designed. 08:17.000 --> 08:19.000 So we also put, uh, 08:19.000 --> 08:21.000 some effort into having a, 08:21.000 --> 08:23.000 a good design as well. 08:23.000 --> 08:26.000 So, uh, these are the main four points. 08:26.000 --> 08:27.000 Uh, 08:27.000 --> 08:28.000 the, the, 08:28.000 --> 08:29.000 the, 08:29.000 --> 08:30.000 uh, 08:30.000 --> 08:32.000 that we follow when we design. 08:32.000 --> 08:34.000 The first one is probably the most important one, 08:34.000 --> 08:40.000 which is that the framework is not dependent from a map representation. 08:40.000 --> 08:41.000 As you know, 08:41.000 --> 08:43.000 you have used enough two every, 08:43.000 --> 08:45.000 the cause map is inside. 08:45.000 --> 08:46.000 The code, 08:46.000 --> 08:48.000 and it's very hard to change. 08:48.000 --> 08:49.000 Yes. 08:49.000 --> 08:50.000 We want you to be able to use 08:50.000 --> 08:52.000 optimal grid maps, 08:52.000 --> 08:53.000 one side, 08:53.000 --> 08:55.000 whatever map representation you want. 08:55.000 --> 08:57.000 A very important thing here, 08:57.000 --> 08:58.000 which is, 08:58.000 --> 08:59.000 I think it's been a, 08:59.000 --> 09:01.000 repeating topic today, 09:01.000 --> 09:03.000 which is determinism. 09:04.000 --> 09:07.000 Performance and so on. 09:07.000 --> 09:08.000 For us, 09:08.000 --> 09:11.000 this has been also a very important thing. 09:11.000 --> 09:14.000 We use Ross for inputs and outputs, 09:14.000 --> 09:16.000 but internally everything is monolithic. 09:16.000 --> 09:18.000 We have a single process. 09:18.000 --> 09:19.000 And now, 09:19.000 --> 09:21.000 Ross communication inside that. 09:21.000 --> 09:22.000 That's right. 09:22.000 --> 09:23.000 That components are, 09:23.000 --> 09:24.000 Ross two notes, 09:24.000 --> 09:28.000 but inside we have a blackboard to communicate everything. 09:28.000 --> 09:31.000 And we don't rely on the executors or 09:31.000 --> 09:33.000 timers or anything, 09:33.000 --> 09:35.000 the execution of the, 09:35.000 --> 09:36.000 of the loop. 09:36.000 --> 09:37.000 We have two threads, 09:37.000 --> 09:38.000 one real time, 09:38.000 --> 09:39.000 and not real time, 09:39.000 --> 09:41.000 that perform different things. 09:41.000 --> 09:42.000 Now fine. 09:42.000 --> 09:45.000 It should be light and easy to use. 09:45.000 --> 09:46.000 It's easy to use. 09:46.000 --> 09:49.000 It was not so easy to develop. 09:49.000 --> 09:52.000 We have one single binary executor, 09:52.000 --> 09:54.000 but you saw how to run it. 09:54.000 --> 09:56.000 And we have a single configuration file 09:56.000 --> 09:58.000 where you can define all the different modules 09:58.000 --> 10:00.000 and its parameters. 10:00.000 --> 10:05.000 And similar to what Napsu and other frameworks do. 10:05.000 --> 10:07.000 The system is modular. 10:07.000 --> 10:09.000 It's based on plugins. 10:09.000 --> 10:12.000 So all the different implementations for the localization, 10:12.000 --> 10:14.000 the mouse manager, the path planner, 10:14.000 --> 10:15.000 and contouring someone. 10:15.000 --> 10:17.000 It can be, 10:17.000 --> 10:18.000 it's smaller. 10:18.000 --> 10:20.000 It can be implemented in plugins. 10:20.000 --> 10:23.000 And you can change them for each application. 10:23.000 --> 10:27.000 This plugin composition is a bit 10:28.000 --> 10:29.000 trickier than usual. 10:29.000 --> 10:31.000 And for us, it's like a puzzle. 10:31.000 --> 10:32.000 Because if you have, 10:32.000 --> 10:35.000 if you allow different map representations, 10:35.000 --> 10:39.000 then you need to make sure that the plugins are compatible. 10:39.000 --> 10:41.000 If you are using, for example, 10:41.000 --> 10:43.000 a cosmap, 10:43.000 --> 10:44.000 to represent the world. 10:44.000 --> 10:46.000 But then you want to use a path planner 10:46.000 --> 10:48.000 that is meant to work with all the maps. 10:48.000 --> 10:50.000 That's not going to work. 10:50.000 --> 10:51.000 That doesn't. 10:51.000 --> 10:52.000 It doesn't match. 10:52.000 --> 10:54.000 So, one thing to have in mind 10:55.000 --> 10:58.000 is that when you're composing your plugins and building your 10:58.000 --> 10:59.000 your navigation stack, 10:59.000 --> 11:02.000 you have to choose compatible. 11:02.000 --> 11:03.000 Which makes sense? 11:03.000 --> 11:04.000 There. 11:04.000 --> 11:07.000 We can see a composition of a cosmap or a cosmap 11:07.000 --> 11:09.000 with the NCL that uses cosmap. 11:09.000 --> 11:10.000 I start for planner. 11:10.000 --> 11:12.000 Cosmap MPV contour. 11:12.000 --> 11:14.000 Here we have another representation. 11:14.000 --> 11:16.000 The over simple stack is more simple. 11:16.000 --> 11:18.000 Like we used for initial steps. 11:18.000 --> 11:20.000 With another, 11:20.000 --> 11:22.000 with another plugins. 11:23.000 --> 11:25.000 Of the grid map or the map, 11:25.000 --> 11:27.000 we will solve soon. 11:27.000 --> 11:29.000 Maybe the controller 11:29.000 --> 11:31.000 you can use in every configuration 11:31.000 --> 11:32.000 if the planner, 11:32.000 --> 11:34.000 the output, the planner are paths. 11:34.000 --> 11:38.000 A standard map message message path, 11:38.000 --> 11:39.000 as well. 11:39.000 --> 11:41.000 What happens if you don't want, 11:41.000 --> 11:43.000 or you don't need a map, 11:43.000 --> 11:45.000 or you don't need localization for your application? 11:45.000 --> 11:48.000 What is just one navigation stack, 11:48.000 --> 11:50.000 which is just purely reactive, 11:50.000 --> 11:52.000 like follow a person. 11:52.000 --> 11:54.000 Like the doctor. 11:54.000 --> 11:56.000 Then you may be to not need a map. 11:56.000 --> 11:58.000 You can put a dummy module, 11:58.000 --> 12:00.000 which does nothing. 12:00.000 --> 12:01.000 Yeah, in that way, 12:01.000 --> 12:03.000 you can provide your planner, 12:03.000 --> 12:05.000 for example, follow a person 12:05.000 --> 12:08.000 and reuse the BPA controller. 12:08.000 --> 12:09.000 For example, here, 12:09.000 --> 12:10.000 you don't need a map, 12:10.000 --> 12:13.000 but you have over GPS localizer. 12:13.000 --> 12:16.000 That is based on robot localization. 12:16.000 --> 12:19.000 And you have a plan error of a stray line 12:19.000 --> 12:21.000 to the robot. 12:21.000 --> 12:22.000 Yes. 12:22.000 --> 12:24.000 And all this, 12:24.000 --> 12:25.000 of that composition, 12:25.000 --> 12:28.000 is done in a single configuration file, 12:28.000 --> 12:29.000 which is a general file, 12:29.000 --> 12:32.000 but you just can put the plugin for each module, 12:32.000 --> 12:33.000 for the localizer. 12:33.000 --> 12:35.000 I'm going to use a simple localizer 12:35.000 --> 12:37.000 or an AMC localizer. 12:37.000 --> 12:41.000 And each plugin will have the parameters in that place. 12:41.000 --> 12:44.000 One important point is the sensor node, 12:44.000 --> 12:48.000 is the entry point for all the sensor information 12:48.000 --> 12:49.000 of the system. 12:49.000 --> 12:50.000 Okay, passed. 12:50.000 --> 12:52.000 And now, the tricky part, 12:52.000 --> 12:55.000 please don't get scared because of the arrows. 12:55.000 --> 12:57.000 It's a bit messy. 12:57.000 --> 12:59.000 The execution model, 12:59.000 --> 13:02.000 as we said before, 13:02.000 --> 13:04.000 everything is running in a single process. 13:04.000 --> 13:06.000 Okay, we have two main threads. 13:06.000 --> 13:09.000 One thread for the critical task, 13:09.000 --> 13:13.000 which has elevated real time priorities. 13:13.000 --> 13:16.000 Okay, which is where we run the processes 13:16.000 --> 13:17.000 for the sensor update, 13:17.000 --> 13:18.000 the post prediction, 13:18.000 --> 13:19.000 and the control. 13:19.000 --> 13:23.000 So it has a higher priority than the other tasks. 13:23.000 --> 13:25.000 And then we have another thread, 13:25.000 --> 13:26.000 which is normal thread, 13:26.000 --> 13:27.000 non-real time, 13:27.000 --> 13:29.000 because it is lower priority for the, 13:29.000 --> 13:30.000 well, 13:30.000 --> 13:31.000 also the logging, 13:31.000 --> 13:32.000 which is not here. 13:32.000 --> 13:33.000 Logging, maps update, 13:33.000 --> 13:35.000 the path planning, 13:35.000 --> 13:37.000 and the whole correction. 13:37.000 --> 13:41.000 So I think the red arrows are for the real time flow 13:41.000 --> 13:43.000 and the green arrows for the real time. 13:43.000 --> 13:44.000 We have another, 13:44.000 --> 13:46.000 you know the important of the DFs. 13:46.000 --> 13:48.000 So we have a TF buffer, 13:48.000 --> 13:49.000 say, 13:49.000 --> 13:51.000 you know the code is a single time. 13:51.000 --> 13:52.000 It's a real time, 13:52.000 --> 13:53.000 TF buffer, 13:53.000 --> 13:56.000 and you can access directly there from any place. 13:56.000 --> 14:00.000 Yeah, the idea here is that there is only one TF input 14:00.000 --> 14:01.000 for the system, 14:01.000 --> 14:03.000 which is also running in the real time buffer. 14:03.000 --> 14:06.000 So we can get the TF data as soon as possible. 14:06.000 --> 14:08.000 Because if you have the sensor data, 14:08.000 --> 14:10.000 but you have not received the TF yet, 14:10.000 --> 14:12.000 then you cannot use that sensor data, 14:12.000 --> 14:13.000 that's useless. 14:13.000 --> 14:17.000 You cannot transform data that is coming from the future. 14:17.000 --> 14:19.000 But there's more. 14:19.000 --> 14:20.000 Yeah, 14:20.000 --> 14:22.000 that's very nice, 14:22.000 --> 14:24.000 because when you configure the, 14:24.000 --> 14:26.000 the plugins of every model, 14:26.000 --> 14:27.000 you, 14:27.000 --> 14:30.000 you are all yellow to select one, 14:30.000 --> 14:31.000 except the, 14:31.000 --> 14:32.000 the mass manager. 14:32.000 --> 14:33.000 In the mass manager, 14:33.000 --> 14:36.000 you can select any representation you want, 14:36.000 --> 14:37.000 even more than one. 14:38.000 --> 14:40.000 And even some representation, 14:40.000 --> 14:42.000 because I execute it in order, 14:42.000 --> 14:45.000 can rely on the output of the previous one. 14:45.000 --> 14:46.000 For example, 14:46.000 --> 14:47.000 in that way, 14:47.000 --> 14:48.000 we have the cosmap, 14:48.000 --> 14:49.000 for example, 14:49.000 --> 14:50.000 after that, 14:50.000 --> 14:51.000 the rooted manager, 14:51.000 --> 14:52.000 the rooted maps manager, 14:52.000 --> 14:53.000 for rootest, 14:53.000 --> 14:55.000 based on the cosmap. 14:55.000 --> 14:56.000 Yes. 14:56.000 --> 14:58.000 You will see this in the next. 14:58.000 --> 14:59.000 Yeah, 14:59.000 --> 15:00.000 the moment, 15:00.000 --> 15:01.000 but you can have multiple, 15:01.000 --> 15:04.000 my representations working at the same time in the system. 15:04.000 --> 15:05.000 Yeah, 15:05.000 --> 15:06.000 we are going to use this, 15:06.000 --> 15:09.000 it's a bonsai representation for a special, 15:09.000 --> 15:10.000 obstacle, 15:10.000 --> 15:11.000 and the napma, 15:11.000 --> 15:12.000 is our representation, 15:12.000 --> 15:14.000 we made for suit faces, 15:14.000 --> 15:17.000 for aviation faces. 15:17.000 --> 15:18.000 Okay, 15:18.000 --> 15:20.000 let's see how it works. 15:20.000 --> 15:21.000 It's a good moment, 15:21.000 --> 15:22.000 because David, 15:22.000 --> 15:23.000 I just entered the room. 15:23.000 --> 15:25.000 Yeah, 15:25.000 --> 15:26.000 um, 15:26.000 --> 15:27.000 should meet. 15:31.000 --> 15:32.000 This is not headless, 15:32.000 --> 15:34.000 because I want to show you 15:34.000 --> 15:36.000 this scenario. 15:36.000 --> 15:39.000 This is a very cool scenario in our university. 15:39.000 --> 15:40.000 Yes. 15:40.000 --> 15:42.000 Over the university is there, 15:42.000 --> 15:44.000 and this is where it should be another building, 15:44.000 --> 15:46.000 but it's not. 15:46.000 --> 15:48.000 Oh. 15:48.000 --> 15:49.000 Okay, 15:49.000 --> 15:51.000 but it's not plan on the scenario. 15:51.000 --> 15:52.000 Okay. 15:54.000 --> 15:56.000 I'm going to run, 15:56.000 --> 15:57.000 to run, 16:00.000 --> 16:02.000 this is a different navigation start. 16:02.000 --> 16:04.000 Instead of using cost map, 16:04.000 --> 16:07.000 we will be using enough map for the navigation surfaces, 16:07.000 --> 16:09.000 and bonsai for the obstacles, 16:09.000 --> 16:11.000 and for the localization. 16:14.000 --> 16:16.000 Okay, I'm going to change to 16:16.000 --> 16:22.000 instead of inflate the obstacles to elevation. 16:22.000 --> 16:25.000 Let's see rainbow. 16:25.000 --> 16:27.000 Let's see, 16:27.000 --> 16:28.000 for example, 16:28.000 --> 16:30.000 how to navigate 16:30.000 --> 16:32.000 to this point. 16:34.000 --> 16:35.000 And you see, 16:35.000 --> 16:37.000 how the path, 16:37.000 --> 16:39.000 and the MCL. 16:39.000 --> 16:40.000 It is running forward, 16:40.000 --> 16:42.000 localization is running MCL, 16:42.000 --> 16:43.000 but in 3D. 16:43.000 --> 16:46.000 And this is the path in 3D dimensions, 16:46.000 --> 16:48.000 of how to navigate at different levels. 16:48.000 --> 16:52.000 At the lead support level on top of level. 16:52.000 --> 16:53.000 Okay. 16:53.000 --> 16:55.000 Can you show the, 16:55.000 --> 16:56.000 the water side? 16:56.000 --> 16:57.000 I don't shy. 16:57.000 --> 16:58.000 Yes. 16:59.000 --> 17:01.000 It would be a lot of points, but of course. 17:01.000 --> 17:02.000 Yes. 17:02.000 --> 17:03.000 It is also there. 17:06.000 --> 17:08.000 The percentage of that boxes. 17:08.000 --> 17:10.000 Yes. So here we're using the other map, 17:10.000 --> 17:12.000 the map map mesh for the navigation, 17:12.000 --> 17:13.000 for the surfaces, 17:13.000 --> 17:15.000 and we're using the bonsai for the MCL, 17:15.000 --> 17:16.000 for the localization, and for us. 17:16.000 --> 17:20.000 Yes, for the observation model of the MCL, 17:20.000 --> 17:23.000 we need the obstacle, 17:23.000 --> 17:24.000 all the obstacle. 17:24.000 --> 17:25.000 Okay. 17:25.000 --> 17:26.000 So, 17:27.000 --> 17:28.000 three minutes. 17:28.000 --> 17:29.000 Okay. 17:29.000 --> 17:30.000 We'll just start. 17:30.000 --> 17:31.000 The QI. 17:31.000 --> 17:32.000 Oh, the QI. 17:32.000 --> 17:33.000 Yes. 17:33.000 --> 17:35.000 Nowadays, if you don't have a QI, 17:35.000 --> 17:38.000 you're not cool, so we did one as well. 17:38.000 --> 17:41.000 Unfortunately, we are not using the ratatouille, 17:41.000 --> 17:44.000 so it's not very pretty. 17:44.000 --> 17:47.000 But it's been very, very useful, 17:47.000 --> 17:49.000 because we used it to, 17:49.000 --> 17:53.000 we have the window with the tracing information, 17:53.000 --> 17:56.000 taking the processing time for each. 17:56.000 --> 17:58.000 This is the blackboard for each part, 17:58.000 --> 18:02.000 and we have here the state of the whole system. 18:02.000 --> 18:04.000 It's the post of the robot. 18:04.000 --> 18:05.000 Yes. 18:05.000 --> 18:06.000 Yes. 18:08.000 --> 18:10.000 Okay. I'm going to close everything. 18:12.000 --> 18:15.000 On continue the presentation. 18:19.000 --> 18:22.000 So, the two in addition to the QI, 18:22.000 --> 18:25.000 we also have a combined line interface 18:25.000 --> 18:30.000 to query the states and symbols and do many more stuff. 18:30.000 --> 18:34.000 And regarding the code organization and so on, 18:34.000 --> 18:37.000 we have everything hosted on GitHub. 18:37.000 --> 18:39.000 Okay. 18:39.000 --> 18:42.000 The license is GPL D3, 18:42.000 --> 18:45.000 not everything except for the NAFMAP, 18:45.000 --> 18:47.000 which is Apache. 18:47.000 --> 18:48.000 Apache 2. 18:49.000 --> 18:53.000 And right now we're using GitHub actions for the CI. 18:53.000 --> 18:57.000 We have CI pipelines for all these distros 18:57.000 --> 18:59.000 for those who have just executed. 18:59.000 --> 19:00.000 And rolling, 19:00.000 --> 19:03.000 we are also generating the doc sheet and 19:03.000 --> 19:05.000 a class reference documentation, 19:05.000 --> 19:06.000 which is uploaded. 19:06.000 --> 19:08.000 It's nice seeing everything in the ring, 19:08.000 --> 19:13.000 although the states will have in some problems. 19:13.000 --> 19:15.000 And recently, 19:15.000 --> 19:16.000 yes. 19:16.000 --> 19:17.000 It's green. 19:18.000 --> 19:22.000 We just did releases for Ross to just see and killed it. 19:22.000 --> 19:24.000 But only for the code repository, 19:24.000 --> 19:29.000 we still have to release the plugins repository 19:29.000 --> 19:33.000 with all the plugin implementations for different stacks. 19:33.000 --> 19:34.000 Yeah. 19:34.000 --> 19:35.000 In this scenario, it's the core. 19:35.000 --> 19:36.000 They see plugins are, 19:36.000 --> 19:38.000 they usually call a really different plugin. 19:38.000 --> 19:41.000 And we also have some other repositories that are not here, 19:41.000 --> 19:43.000 which include the simulation playgrounds, 19:43.000 --> 19:46.000 in Casivo, which are the ones you saw in the demos. 19:46.000 --> 19:48.000 We have one with the top tabo, 19:48.000 --> 19:52.000 another one with the summits and so on. 19:52.000 --> 19:54.000 Regarding the documentation, 19:54.000 --> 19:58.000 we believe this is a very, very important thing. 19:58.000 --> 20:03.000 So we have released the doc sheet and reference, 20:03.000 --> 20:07.000 and we also have documentation based here on GitHub pages. 20:07.000 --> 20:10.000 With all the API tutorials, 20:11.000 --> 20:14.000 how to scan everything multi-robot, 20:14.000 --> 20:19.000 router, how to deploy in a real robot in a create free, 20:19.000 --> 20:20.000 for example. 20:20.000 --> 20:22.000 We have to update some parts. 20:22.000 --> 20:23.000 Yeah. 20:23.000 --> 20:27.000 And if you remember Ross won wiki, 20:27.000 --> 20:30.000 and Ross won wiki, 20:30.000 --> 20:35.000 you have a page template for the Ross packages. 20:35.000 --> 20:38.000 We have something very similar for the modules. 20:39.000 --> 20:41.000 So when you develop a plugin, 20:41.000 --> 20:42.000 over we do it, 20:42.000 --> 20:45.000 we have a template page, which is all the information, 20:45.000 --> 20:48.000 parameters, what the state does, 20:48.000 --> 20:49.000 does it need, 20:49.000 --> 20:52.000 the map representations that it's compatible with, 20:52.000 --> 20:56.000 the key that is added to all the plugins in the web. 20:56.000 --> 20:58.000 The case of the blah, blah, blah, blah. 20:58.000 --> 21:01.000 Everything you need to understand this. 21:01.000 --> 21:03.000 And if you develop your repository, 21:03.000 --> 21:05.000 your own plugin, 21:05.000 --> 21:07.000 you can create this page, 21:07.000 --> 21:09.000 and we can index in the official image. 21:09.000 --> 21:11.000 So where are we, 21:11.000 --> 21:13.000 and where are we going? 21:13.000 --> 21:15.000 With the develop, 21:15.000 --> 21:17.000 yet another navigation system, 21:17.000 --> 21:18.000 which is robust, 21:18.000 --> 21:21.000 and we believe it's easy to use on the design. 21:21.000 --> 21:25.000 This work hasn't been done in six or seven months, 21:25.000 --> 21:28.000 we still have a lot of things to do. 21:28.000 --> 21:29.000 It's light, 21:29.000 --> 21:32.000 and more or less the terminist, 21:32.000 --> 21:35.000 we try to have something as a terminist as possible. 21:36.000 --> 21:38.000 It's able to add up to problems, 21:38.000 --> 21:40.000 we're not sort of right some hacks, 21:40.000 --> 21:42.000 and we already have a lot of things, 21:42.000 --> 21:45.000 or platforms you saw in the demos. 21:45.000 --> 21:47.000 And right now we just want to build more community 21:47.000 --> 21:48.000 around it, 21:48.000 --> 21:50.000 that the people know it, 21:50.000 --> 21:52.000 and we still need some 21:52.000 --> 21:55.000 effective controllers, 21:55.000 --> 21:57.000 that work a bit better than what we have now. 21:57.000 --> 21:58.000 Yeah. 21:58.000 --> 21:59.000 And that's all. 21:59.000 --> 22:00.000 Thank you very much. 22:01.000 --> 22:02.000 Thank you. 22:07.000 --> 22:09.000 Anybody has any questions? 22:09.000 --> 22:12.000 We have time for some few questions. 22:16.000 --> 22:18.000 So I find this very interesting. 22:18.000 --> 22:21.000 How does this backport, 22:21.000 --> 22:22.000 or let's say, 22:22.000 --> 22:25.000 how does it backwards flow into existing architectures imagine? 22:25.000 --> 22:27.000 I have a robot already, 22:27.000 --> 22:29.000 and I'm running loss to humble. 22:29.000 --> 22:32.000 I have some whole bunch of behavior trees. 22:32.000 --> 22:33.000 I'm relying on a whole bunch of plugins, 22:33.000 --> 22:34.000 everything is natural. 22:34.000 --> 22:37.000 What's the workflow for me to migrate to easy enough? 22:37.000 --> 22:38.000 Is it, 22:38.000 --> 22:40.000 do I need to rely on certain, 22:40.000 --> 22:42.000 another build system? 22:42.000 --> 22:44.000 Because I don't think we spoke about the build system here? 22:44.000 --> 22:45.000 Is it still a call call, 22:45.000 --> 22:47.000 or do you have something custom? 22:47.000 --> 22:48.000 Yeah. 22:48.000 --> 22:49.000 It's a call call. 22:49.000 --> 22:51.000 So everything else stays the same. 22:51.000 --> 22:52.000 All the plugins, 22:52.000 --> 22:53.000 all my packages upstream, 22:53.000 --> 22:55.000 all come from the same sources, 22:55.000 --> 22:56.000 and I can just, 22:56.000 --> 22:58.000 or the next time, basically. 22:58.000 --> 22:59.000 Yeah. 22:59.000 --> 23:01.000 You have to, 23:01.000 --> 23:03.000 or install the binary package, 23:03.000 --> 23:06.000 so I put that in a single space build, 23:06.000 --> 23:07.000 and that's one. 23:07.000 --> 23:09.000 You have to do a parameter, 23:09.000 --> 23:11.000 a file of parameter for you, 23:11.000 --> 23:13.000 but probably it's only, 23:13.000 --> 23:15.000 we only one point, 23:15.000 --> 23:16.000 but are your sensors at us? 23:16.000 --> 23:17.000 Yes. 23:17.000 --> 23:20.000 There is one key difference from not two, 23:20.000 --> 23:22.000 which is that if you're using, 23:22.000 --> 23:25.000 you don't have use of the behaviors, 23:26.000 --> 23:27.000 we don't have that, 23:27.000 --> 23:29.000 because we believe that those kind of behaviors 23:29.000 --> 23:31.000 do not belong in an navigation style. 23:31.000 --> 23:35.000 Be long to an upper level of behaviors. 23:35.000 --> 23:38.000 But you can just use the existing navigator, 23:38.000 --> 23:40.000 but easy enough not. 23:40.000 --> 23:41.000 No, no, no, no. 23:41.000 --> 23:42.000 If you want, for example, 23:42.000 --> 23:46.000 instead of if you have to do a patrolling behavior, 23:46.000 --> 23:48.000 probably I can do it, 23:48.000 --> 23:51.000 changing the behavior between an navigation, for example. 23:51.000 --> 23:52.000 But I think it's, 23:53.000 --> 23:55.000 it's how it's belong to another level, 23:55.000 --> 23:57.000 to not a level of the skill, 23:57.000 --> 23:59.000 a level of the task, I think. 23:59.000 --> 24:00.000 It's a world opinion. 24:01.000 --> 24:04.000 There's one question from somebody online. 24:04.000 --> 24:07.000 How easy is it to make new plugins? 24:07.000 --> 24:09.000 It's very easy, it's very easy, 24:09.000 --> 24:13.000 because you have to inherit from the base class, 24:13.000 --> 24:16.000 and only feel update or update 24:16.000 --> 24:18.000 or update the function, 24:18.000 --> 24:21.000 and you receive the blackboard reference to the blackboard. 24:21.000 --> 24:25.000 You only have to check the plugin you are using, 24:25.000 --> 24:26.000 check what are the keys, 24:26.000 --> 24:28.000 so the blackboard extract, 24:28.000 --> 24:29.000 the information, 24:29.000 --> 24:30.000 and at the end, 24:30.000 --> 24:31.000 write the blackboard, 24:31.000 --> 24:32.000 the result, 24:32.000 --> 24:34.000 you're expecting another plugin. 24:34.000 --> 24:35.000 All right. 24:35.000 --> 24:38.000 Any more questions in the room? 24:38.000 --> 24:39.000 Okay. 24:39.000 --> 24:41.000 Are you at the right of way? 24:43.000 --> 24:45.000 So you mentioned, 24:47.000 --> 24:49.000 you don't need any of the hacks that you would need. 24:50.000 --> 24:51.000 What? 24:51.000 --> 24:53.000 I'm not using NF2 at the moment, 24:53.000 --> 24:57.000 but what kind of hacks does easy enough? 24:57.000 --> 25:00.000 Let me avoid that I would have to do enough too. 25:00.000 --> 25:02.000 Even in the last month we have told 25:02.000 --> 25:05.000 with many people that use NF2 for agriculture 25:05.000 --> 25:07.000 are robot, for example. 25:07.000 --> 25:09.000 All of them, 25:12.000 --> 25:13.000 think as they worry, 25:13.000 --> 25:15.000 it's flat, but it's not flat. 25:15.000 --> 25:17.000 And you have problem, for example, 25:17.000 --> 25:18.000 when the road moves, 25:18.000 --> 25:20.000 and the last set, 25:20.000 --> 25:22.000 start to appear some obstacles. 25:22.000 --> 25:25.000 For example, when you have to go in a ramp, 25:25.000 --> 25:27.000 and you have to do some hacks 25:27.000 --> 25:30.000 to don't mark the ramp as an obstacle. 25:30.000 --> 25:34.000 So if you choose a good representation, 25:34.000 --> 25:35.000 you don't have to do it. 25:35.000 --> 25:37.000 I make agricultural robots, 25:37.000 --> 25:39.000 so it's very relevant to me, thanks. 25:47.000 --> 25:49.000 All right, I think that's all, thank you. 25:49.000 --> 25:50.000 Thank you. 25:50.000 --> 25:51.000 Thank you. 25:51.000 --> 25:53.000 Thank you.