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ROS For LabVIEW

This document discusses integrating the Robot Operating System (ROS) with LabVIEW. It describes how ROS and LabVIEW each have strengths and weaknesses in areas like OS support, real-time capabilities, hardware support, and community size. It then provides examples of using ROS and LabVIEW together, including developing LabVIEW GUIs for ROS robots, integrating ROS sensors into LabVIEW, and writing LabVIEW code that interfaces with ROS algorithms and publishes data. Details are given on a new ROS-LabVIEW integration toolkit in beta form, along with a request for feedback.

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777 views

ROS For LabVIEW

This document discusses integrating the Robot Operating System (ROS) with LabVIEW. It describes how ROS and LabVIEW each have strengths and weaknesses in areas like OS support, real-time capabilities, hardware support, and community size. It then provides examples of using ROS and LabVIEW together, including developing LabVIEW GUIs for ROS robots, integrating ROS sensors into LabVIEW, and writing LabVIEW code that interfaces with ROS algorithms and publishes data. Details are given on a new ROS-LabVIEW integration toolkit in beta form, along with a request for feedback.

Uploaded by

ibrncfe
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Robot Operating System and

LabVIEW
Ryan Gariepy
Clearpath Robotics
Agenda
• ROS as a compliment to LabVIEW
• Combined ROS-LabVIEW systems
• LabVIEW control of ROS
• ROS control of LabVIEW
• Toolkit Details & Next Steps
Introduction to ROS
• Initially developed ~2007
• Maintenance/development under Willow Garage
in 2008
• Significant adoption began in 2010
• Now maintained by the nonprofit Open Source
Robotics Foundation (2012)
• ~160 public ROS repositories
• ~3000 available packages
Aspects of ROS

Middleware Ecosystem

Community
Community
ROS & LabVIEW Robotics
Category ROS LabVIEW Robotics
OS Support Linux Windows, Mac, Linux, RT, etc…
Real-time Support - +
General Architecture + -
Low-level Hardware Support - +
High-level Hardware Support + -
Applicable Libraries + -
Tutorial Quality - +
Tutorial Volume + -
Applicable Community Size + -
LabVIEW Control of ROS
Use cases: LabVIEW

• GUI development for GUI VI

ROS-enabled robot Think


• Quick LabVIEW
integration of ROS- ROS
supported sensor Bridge

Sense Act
LabVIEW Control of ROS
LabVIEW

GUI VI

Think

ROS

Bridge

Sense Act
LabVIEW Control of ROS
LabVIEW Control of ROS
LabVIEW Control of a Turtlebot
sudo apt-get install ros-electric-brown-remotelab
rosrun rosbridge rosbridge.py
ROS control of LabVIEW
Use cases: ROS

• Write algorithms which Sense Think

link to OpenCV, PCL, etc Bridge


• Apply the power of
LabVIEW hardware LabVIEW

• Provide ROS systems


with real-time features Act
ROS control of LabVIEW
ROS
IMU

Kinect roscore Husky A200

Bridge

LabVIEW

sbRIO-9606
LabVIEW RT

Arm Hardware
ROS control of LabVIEW
ROS control of LabVIEW
ROS control of LabVIEW
ROS control of LabVIEW
Toolkit Details
• Free beta on the NI Tools Network, certified
LabVIEW Compatible
• Base functionality can run on RT targets
• Dynamic message creation requires non-RT
system
• Images/point clouds not yet supported
• The more questions and comments, the faster
we get to v1.0!

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