SmartSoft

CORBA / SmartSoft

Components and Toolchain for Robotics

Latest News

20/03/2012

New video of SmartSoft MDSD Toolchain

27/02/2012

New video: The butler scenario.

06/10/2011

A new section demonstrates the creation and usage of Gateway components.

09/09/2011

SmartSoft MDSD Toolchain 0.10.4 released. Components update released. New Videos available.

05/05/2011

New video of our robot "Kate" cleaning up the table.

29/04/2011

The ACE based SmartSoft version 1.8.0 is available on Sourceforge. Technical reports available.

27/04/2011

Switch to Model Driven Software Development for all published SmartSoft components and communication objects. Many new components published. Getting-Startet-Tutorial added. Toolchain 0.10.2 released.

16/09/2010

Description of several components and their services added.

13/08/2010

The ACE based SmartSoft version 1.7.2 is available on Sourceforge. ACE / SmartSoft on Sourceforge

27/07/2010

SIMPAR 2010: Tutorial on "Model-Driven Software Development in Robotics"

26/05/2010

SmartSoft MDSD Toolchain version 0.8.0 released. SmartSoft VMWare on Sourceforge

09/09/2009

The new VMWare Image of SmartSoft including the SmartSoft MDSD Toolchain is available for download. SmartSoft VMWare on Sourceforge

SmartSoft simulator demo

While the Basic demo with a Pioneer P3DX and Advanced demo with a Pioneer P3DX gives an overview in real-world scenarios, this demo describes how to run SmartSoft components with the simulator component.

Hint: this example is described step by step in the tutorials Lesson 1 for the VMware Installation. Tutorials

SmartSoft simulator component using player/stage

The SmartSoft simulator component uses the simulator belonging to player/stage.
It simulates the robot base, providing the odometry, receiving robot speed and
the laser range finder, providing laserscans.
The demo below describes how to drive to a commanded position. It is also possible to run other demos within the simulator, replacing the smartPioneerBaseServer and the smartLaserLMS200Server with the smartPlayerStageSimulator component.

Involved Components:

smartPlayerStageSimulator
smartMapperGridMap
smartPlannerBreadthFirstSearch
smartCdlServer
smartSpeechMaryOutputServer (if speech output is wanted)
smartRobotConsole

Run the demo:

Be sure that the Corba Naming Service is running and the NameServiceIOR environment-variable is set correctly! (see Installation - CORBA Naming Service)

If you want to use the speech output component be sure that the MARY server is running and the voices configured in the $SMART_ROOT/src/components/smartSpeechMaryOutputServer/smartSpeechMaryOutputServer.ini are installed correctly!

Now run player/stage and the components:

    # cd $SMART_ROOT
    # xterm -e player src/components/smartPlayerStageSimulator/player_stage/smart_hospital_small.cfg &

    # xterm -e bin/smartPlayerStageSimulator &
    # xterm -e bin/smartMapperGridMap &
    # xterm -e bin/smartPlannerBreadthFirstSearch &
    # xterm -e bin/smartCdlServer &
    (# xterm -e bin/smartSpeechMaryOutputServer &)
    # xterm -e bin/smartRobotConsole &

Configure and start the demo using the smartRobotConsole:

choose "99 - Demos" to get the list of the demos:
now choose "(2) Demo 2 Planner-CDL GOTO"

choose whether you want to use the speech output component: "Activate speech output? (y/n): "
now enter the goal coordinates measured in millimeter from the initial position (x:0 y:0) of the robot:
(1000)(0) -> set the goal 1m ahead of the robot

the robot will move in the simulator to the entered position immediately
if the speech output is activated the robot will tell acoustically when the goal is reached

to move the robot to another goal choose "Enter Goal? (y/n): " y and enter the coordinates

the demo stops by entering "n" if you are asked whether you want to enter an goal.

Hints

To show the position of the robot select view --> position line; position text in stage

Stage is able to simulate uncertainties of the odometry. This mode is already set up in the .world file belonging to the .cfg file loaded with player. If the settings mentioned above are set, stage shows the position which the robot's odometry indicates. (also show in the status bar at the bottom when pointing at the robot)