Modular pick and place simulator using ROS framework

Abstract

The fast development in the field of Robotics has become more and more notorious throughout the past years. Nowadays technology in general and robotics in particular search for modular and flexible applications in order to answer the demands of a wide range of problems in an efficient manner. However there are several robotic solutions already implemented and some still available to be implemented that do not use modular tools. The Robotic Operative System (ROS) appears to be the unifying tool to connect all software developers allowing any developer in both education and professional areas to be able to develop complex software using small iterations of simple software. Still, despite of the several robotic solutions available, there are several robots that do not use the Robotic Operative System (ROS) and have limitations in terms of autonomously correct errors during their tasks. Moreover when developing new robots and software to the robotic area there is an important aspect to be consider: the selection of the methodology to be used. In this paper, it will be presented a challenge propose to college students using the ROS framework in a common robotic problem, the pick and place operations. The main aim for this challenge is to show how to produce software in a modular and flexible way using ROS can prompt the rapid development in all robotic applications. Moreover the challenge had one particular real end, the European Robotics Challenges (EUROC) -- a challenge aiming to develop a robot for shop floor logistics and manipulation. Furthermore this challenge was based in the three tiers paradigm: 1 recognition/sensing tier, 2-effector tier and 3-the control tier and was built using the ROS framework. Another advantage of our proposed pick and place approach is the ability to have a robot safely and efficiently inserted in an unknown environment. This is possible due to the insertion of an adaptive control tier in our methodology. The proposed approach can be valuable in the field of robotics and can be potentially applied in multiple tasks and it has already allowed us to advance to the next stage of EUROC. Based on this information, the challenge propose to the students will primarily reinforce the need for modular and flexible software while showing how the ROS framework can be a simple tool for present and future developments.