README.md

RoboSDK

What is RoboSDK

RoboSDK is a light weight, high-level interface which provides hardware independent APIs for robotic control and perception. The goal of this project is to abstract away the low-level controls for developing APPs that runs on an industrial robot in an easy-to-use way.

Features

RoboSDK provide the following features:

• Defining the Running World

  • A World represent an environment which the robot launch, such as interactive maps, active objects and scenarios.
  • simulator: it provides some predefined scenarios such as Gazebo, and the reusable wheels for building new World.

• Sensor-Based Control for Registered Robots

  • Object-oriented, unified interface for equivalent sensors, such as : Camera, Lidar, IMU and Audio. Therefore, they are guaranteed to have the same interface defined by the base class, for example, Camera would have get_rgb, get_depth as its member function, and their behavior would be the same across hardware.
  • A Robot instance consists of multiple components of sensors which were extended the BaseClass respectively. Robot and Sensor is one-to-many.
  • A Robot is controlled by invoking the Sensor interface. The robots are managed by combining multiple configurations of each sensor.
  • Interconnection with Vendor-defined interface, like: socket-base gait change.

• Plug-in-and-play Algorithms

  • Localize
  • Perception
  • Navigation
  • Cloud-Edge Service

• Robot Operating System Backend mapping

  It provides a full-stack abstraction for Robot Operating System, such as message manager.
  

  • Ros1 [stable]
  • Ros2 [rc]
  • openHarmony [alpha]

Installation

• Prerequisites

  • Robot Operating System: such as Ros noetic

• Enable Virtual Environment

  • Mac OS / Linux

    # If your environment is not clean, create a virtual environment firstly.
    python -m venv robo_venv
    source ./robo_venv/bin/activate

  • Windows

    # If your environment is not clean, create a virtual environment firstly.
    python -m venv robo_venv
    
    # You may need this for SecurityError in PowerShell.
    Set-ExecutionPolicy -Scope CurrentUser -ExecutionPolicy Unrestricted
    
    # Activate the virtual environment.
    .\robo_venv\Scripts\activate

• Install RoboSDK

  # Git Clone the whole source code.
  git clone https://github.com/kubeedge/robosdk.git
  
  # Build the pip package
  python3 setup.py bdist_wheel
  
  # Install the pip package 
  pip3 install dist/robosdk*.whl

Show Cases

• Case I - Legged-Robot Auto Gait Change
• Case II - Arm-Robot Teleoperation

Supported

As we are currently fully tested in the following Robots/sensors, which is considered to be well supported :

Robot

• x20
• scout

Cite Us

License

Copyright 2021 The KubeEdge Authors. All rights reserved.

Licensed under the Apache License, Version 2.0.