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MongoDB Logging presented at ROSCon 2013

Last weekend some of us went to ROSCon 2013 to listen to all the great stuff happening in the ROS eco system and present some of our own work.

The item which probably gained most attention was the presentation and announcement of the MoveIt release. It's definitely something to look into and a platform to consider in the future for doing mobile manipulation. Another interesting presentation was on the Robot Web Tools. While the presentation's balance leaned a bit from technical to fancy (probably a web people thing) it showed some very nice integration possibilities. Depending on how platform agnostic it is it could be re-used for Fawkes. Another thing to look into is tf2. It seems to finally get rolled out in ROS, making it worthwhile to consider it for integration again.

A particular thing that was talked much about was ROS 2.0, the magic next version which solves everything and makes all dreams come true -- sort of. It shows a lot of promise and the open process by which its design decisions should be made is appealing. Some of the things that were discussed indicate that ROS 2.0 might be much easier to integrate with other non-ROS software.

On our end Ingo L├╝tkebohle (Bielefeld University) and Tim Niemueller(RWTH Aachen University) presented data recording and evaluation techniques. The MongoDB-based logging received quite some attention. It seems to be time to backport the advancements we made on the Fawkes logger version back to ROS. Additionally the RobotMetaLogger was presented that might benefit by supporting the MongoDB-logger as an input source.

On-line Use of Recorded Data from Database

On particular example we presented is the use of data recording to remember point clouds and other data. Certain times of observation points are recorded during a run. Then later the data and associated transforms is restored and the point clouds are merged to fill shadows and occlusions in the data for a complete perception run. Below are some screenshots of the visualization documenting the process. You can find a video of the process in our recent video on deliberative active perception employing hybrid reasoning.

Posted by Tim Niemueller on May 16, 2013 13:36

Tags: database event fawkes hybrid-reasoning mongodb pcl performance-evaluation project ros simulation talk

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