ICRA 2009 Workshop on Open Source
Software in Robotics
1.
Organizers
1.
Dr. Hirohisa Hirukawa, National
Institute of Advanced Industrial Science and
2.
Prof. Dr. Alois Knoll, Technische Universität
München, Germany.
2.
Abstract – Open source software in robotics is an important platform on which future complex robotic systems, e.g., humanoid
robots with many degrees of freedom or mobile manipulators, can be built with
less effort than previously possible. This workshop will (i)
present a synopsis of the open source software in robotics that has been
distributed in the robotics community in recent years and (ii) will explore
potential ways to build a common/standard software platform. The scope of this
open source software may range from middleware to applications, including
programming environments, dynamics simulators, navigation modules, and motion
planners. The workshop will start with an overview of the actual state of
affairs in open software for robots, including the statistics of the
distributions, will continue to discuss individual new approaches and will
conclude by discussing the (potential) interoperability between them.
3.
Motivation and objectives – Open
source software has played a major role in computer science, but its role has
been much less significant in robotics.
As a result, robotic scientists have had to build software from scratch
when they developed robotic systems, which is extremely inefficient and wasted
developers’ time and effort. With hindsight, it has slowed down the development in the field considerably.
The reason for this is that researchers need to change not only parameters, but
the whole behaviour and structure of robot control
programs frequently during the development – which is only possible if they
have open access to virtually all layers of the software they are using.
Fortunately for roboticists, several new kinds of
open source software have been distributed recently, albeit with limited
resonance in the community up to now. The objective of the workshop is ,hence,
to make these developments known to a broader public, show the power of
available open source software including middleware and programming
environments, and to discuss the possibilities of unifying what is already
available – to eventually create a common software platform for robotics.
4.
Program
Session I Software
Platform I
9:00- 9:25 Robotics
Technology Framework, Alois
Knoll (TU Münichen)
9:25- 9:50 ROS:
an open-source robot operating system, Morgan Quigley (Stanford Univ) ,[Software]
9:50-10:15 OpenRT Platform: An Open software
Platform for Robotics Technology, Isao Hara & Fumio Kanehiro
(AIST) [Software(OpenRTM-aist)][Software(OpenHRP3)]
<Coffee Break>
Session II Software
Platform II
10:45-11:10 Open Source Hardware and Software for
Robotics, Giorgio Metta(IIT, Italy) [Software(YARP)][Software(RobotCub)]
11:10-11:25 Development of an Open Software Platform
for Robotics Service in
11:35-12:00 Can open source ever make an impact in robotics? ,
Herman Bruyninchx (
<Lunch Time>
Session III Applications
13:20-13:45 Use of OpenCV
in robotics, Gary Bradski (Willow Garage)
13:45-14:10 The Open Source Controller in COMAU Robotics, Gian Paolo Gerio(Comau) & Stefano Chiaverini(
14:10-14:35 An Object-Oriented
Programming System for Motion Planning,
14:35-15:00 Building Software for Consumer Robotics – One
Component at a Time, Mario Munich (Evolution Robotics)
<Coffee Break>
Session IV Future Perspective
15:30-17:00 Panel Discussion