ROS,

AWS RoboMaker,

& DeepRacer

Jd Fiscus

• Software Engineering Manager
  • Full Stack Developer
• Udacity Robotics Engineering Nanodegree
• MIT IoT Bootcamp
• AWS Developer/Associate Certification (pending)
• PyImageSearch Guru (pending)
  • Computer Vision
  • OCR
  • University

@iamfiscus

Outcome

Use cases

Automotive

Amazon

Fetch Robotics​

iRobot

Boston Robotics (Spot)

Volunteering

Outreach to youth

AI-Enabled Products

AWS (Alexa, DeepLens, DeepRacer)

Google Coral

Nvidia Jetson Nano

RaspberryPI

@iamfiscus

Fetch Robot

Text

AWS Wharehouse

Source: awesomeopensource.com

Open Source

Open Source

Our Build

Navigation

Source: http://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/

What is it?

• Open Source Framework
• Language (Python, C++)
• Publish & Subscribe
• Plugins
• Extendable

Nodes

• Executable in ROS Package
  • rospy
  • roscpp
• Communicate to other nodes
• Example

  • $ rosrun [package_name] [node_name]

     

Topics

• Bus nodes exchange messages over
• Message type
• Fire and forget
• Example

  • $ rostopic list

  • $ rostopic echo /[topic_name]

Source: http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics

Pub/Sub

• Observable Pattern
• Publish
  • Distribute messages over Topics
• Subscribe
  • Receive messages over Topics
  • Multiple subscribers to single Topic

Source: http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics

Services

• Request and Respond
  • Similar to an HTTP request
• Message Types
• Examples
  • ​Builtin: /map_server
  • Custom: /calculate

Actions

• Goal - Intent for robot
  • Move to specific location by passing params
• Feedback - Incremental progress of a goal
  • Current pose on path, time left
• Result - Similar to feedback but sent once
  • ​Final desitination

Source: http://wiki.ros.org/actionlib

by Example

Tools / Plugins

• Simulate
• Visualize
• MoveIt!
• Log
• Plot
• Graph
• CLI

RoboMaker

Cloud ROS 

Extensions

Simulate

Development

Fleet Management

Sample Apps

Extensions

Development

Simulate

Fleet Management

Fleet Management

DeepRacer

• RE:Invent
• Preorder
• Machine Learning
• Simulator
• Leagues
• Open Source

Guts

Source: https://www.cnet.com/roadshow/news/amazon-aws-deepracer-machine-learning-car/

CAR: 18th scale 4WD with monster truck chassis

CPU: Intel Atom™ Processor

MEMORY 4GB RAM

STORAGE: 32GB (expandable)

WI-FI: 802.11ac

CAMERA: 4 MP camera with MJPEG

SOFTWARE: Ubuntu OS 16.04.3 LTS, Intel® OpenVINO™ toolkit, ROS Kinetic

PORTS: 4x USB-A, 1x USB-C, 1x Micro-USB, 1x HDMI

SENSORS: Integrated accelerometer and gyroscope

Sample Apps

Simulate

Source: https://github.com/aws-robotics/aws-robomaker-sample-application-deepracer

Train

Source: https://github.com/aws-samples/aws-deepracer-workshops

Train

Source: https://github.com/aws-samples/aws-deepracer-workshops

Donkey RC Car

Source: http://www.donkeycar.com/

RC CAR
Raspberry Pi
Python

•     tornado 
•     keras
•     tensorflow
•     opencv

Donkey RC Car

Questions?

Resources

ROS & Turtlebot

- https://www.udacity.com/course/robotics-software-engineer--nd209​

- https://www.robotigniteacademy.com/

- http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/​

AWS RoboMaker & DeepRacer

- https://docs.aws.amazon.com/robomaker/latest/dg/getting-started.html​

- https://github.com/aws-samples/aws-deepracer-workshops

- https://github.com/aws-robotics/aws-robomaker-sample-application-deepracer

- https://github.com/awslabs/amazon-sagemaker-examples/tree/master/reinforcement_learning/rl_deepracer_robomaker_coach_gazebo​

Donkey RC

- http://www.donkeycar.com/

@iamfiscus