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Latest entries for tag 'release'

RoboCup Logistics Software Stack Release 2016

RCLL 2016 Simulator Screenshot The Carologistics RoboCup Team has released their software stack of 2016 based on Fawkes 1.0.0 for the RoboCup Logistics League. It is a continuation of the release last year. It includes, for example, direct communication with the Robotino for time-stamped and faster data access and many improvements to the basic skills of the robot, tooling, and simulation integration.

The following video shows the RoboCup 2016 finals between the Carologistics and Solidus. The released software stack is the one used by the Carologistics team, which won the competition.

Details about the release and a video of the simulation are available on the RCLL software stack 2016 release page.

Posted by Tim Niemueller on February 8, 2017 14:00

Fawkes 1.0.0 released

Today we are happy to announce the release of Fawkes 1.0.0. This release four years after the last major release (we still need to get better on this) contains a vast amount of new software components and plugins, sub-systems, and overall system and framework improvements. You may also call this the tenth anniversary release (the first commit was done on Sep 5th 2006). In the past years, Fawkes (or parts thereof) has especially been used in domestic service robot and industrial multi-robot logistics tasks.

In the following we present some additions and changes in 1.0.0 since 0.5.0.

Behavior Modeling
A crucial part of a robotics system is the system to model, reason about and decide on, and eventually execute the intended behavior for the robot to accomplish its task. This version contains some significant improvements.
  • CLIPS-based agent framework: based on the integration of the CLIPS rule-based production system of the 0.5 release we now include several plugins that allow for the easy modeling and execution of agents as a rule-based action selection system.
  • OpenPRS: we have integrated and used the procedural reasoning system in the RoboCup Logistics League.
  • ECLiPSe CLP: this constraint logic programming system is used to power a Golog-based agent framework.
  • ROS-BE: we have backported advances made to the ROS version of the Lua-based Behavior Engine back to Fawkes. Additionally, it allows for native access to the ROS universe using roslua
Topological Map Graph
A topological map graph can be useful for global path finding, relating relevant points of interest (POI) from symbolic names to geometric coordinates, and to store semantic information and properties. In Fawkes, the newly introduced navgraph component and provides these capabilities. It is integrated with the behavior components and additionally provides constraint management (block nodes or edges, apply cost factors to edges), which can be used, for example, for path reservation. It features automatic navgraph generation given POIs, obstacles, and a cell-based map. A navgraph can be represented as a YAML file and there is support for interactive manipulation through ROS rviz.
Gazebo Simulation
The new Gazebo simulation system allows easy access to many types of sensors and full interaction with the Gazebo middleware. This integration is the basis for the simulation integration of the RoboCup Logistics League 2015 domain release.
New Hardware Drivers
Fawkes 1.0 supports several new hardware components, such as the Sick TiM 55x and 57x laser range finders, the Asus Xtion, Point Grey Bumblebee2, Cruizcore XG1100 IMU, and arbitrary Dynamixel servo chains. Based on our libkindrv library the Jaco arm is fully supported, even in dual-arm configurations. The Robotino driver supports direct-access communication mode that completely bypasses OpenRobotino (tested on Robotino 3). This allows for access to sensor timestamps and better control. This also includes a simple acceleration controller which makes the Robotino drive much more smoothly.
Other Items
Some of the other noteworthy changes include switching to YAML-based configuration files, switching to the tf2 transforms library, a plugin to recognize clusters in laser data, bash completion support, and support for IPv6 networking. Additionally, a full pipeline for storing, retrieving, and merging point clouds to and from a MongoDB database has been added. Interfaces are now packed more densely, which means external access libraries must be updated (e.g., jfawkes).
There are many other fixes and performance improvements throughout the software.

Thank you to the contributors who made this release possible. The new release is available on the download page. The documentation is continuously extended and improved in our Trac Wiki.

Posted by Tim Niemueller on December 30, 2016 16:17

RoboCup Logistics Software Stack Release 2015

RCLL 2015 Simulator Screenshot The Carologistics RoboCup Team has released their software stack of 2015 based on Fawkes for the RoboCup Logistics League. It is a continuation of the release last year. In particular, it features an improved simulation adapted to the new gameplay with physical processing machines introduced in 2015. It also contains most features of the upcoming Fawkes (core) release.

The following video shows the RoboCup 2015 finals between the Carologistics and Solidus. The released software stack is the one used by the Carologistics team, which won the competition.

The following video shows the software stack running in simulation with an explanation of its features. The simulation integration is an important part of the software release and has been a crucial factor in developing the software.

Details about the release and a video of the simulation are available on the RCLL software stack 2015 release page.

Posted by Tim Niemueller on February 22, 2016 13:39

Carologistics Release RoboCup Logistics League 2014

RoboCup is particularly well-known for its soccer leagues, but there are an increasing number of application leagues. The newest one is the RoboCup Logistics League (RCLL) where groups of robots take on the task of in-factory production logistics. Development of a robust and capable integrated system to operate a group of autonomous mobile robots for an environment like the RCLL can be a tedious and longsome enterprise. This can be a barrier for new (or rebooting) teams and slow down even seasoned teams.

To foster the development of the RCLL as a whole and in the hope to serve as an example, we release our full software stack used for winning the RCLL 2014 today. It is based on the Fawkes Robot Software Framework. While major parts have always been openly available, the release also includes all parts which we developed in private specific to this domain and which we considered to be our competitive edge. We provide this in one coherent and tested package that will reduce the effort required to get a full running robot for the RCLL tremendously.

Some of the highlights that the package contains are components for localization and navigation, perception and vision, basic behaviors (skills) using our Lua-based Behavior Engine, and the complete task-level executive based on CLIPS. With the included simulation integration, you can immediately start and have a complete system that performs the 2014 game on the same level as the world champion.

The software has been developed for more than eight years by numerous people and has been used in the Middle-Size and Standard Platform soccer leagues, the RoboCup@Home league, the RCLL, and projects aside from RoboCup, like Hybrid Reasoning for Intelligent Systems and HERB at CMU. In the last three years the Carologistics team has been the major driving force developing the framework and its components to its present state.

We invite teams to take a look and adopt Fawkes as their software platform. All parts are Open Source software and the vast majority of components are developed in the public. We welcome contributions from anyone and hope to help newcomer teams to get a better start. In combination with the now publicly developed simulation for the 2015 game, it should be far easier to perform better than ever before.

More detailed information are available on the Fawkes LLSF 2014 Release Page.

Posted by Tim Niemueller on March 30, 2015 18:00

Fawkes 0.5.0 released

Today we are happy to announce the release of Fawkes 0.5.0. This release two years after the last major release (we need to get better on this) contains a vast amount of new software components and plugins, sub-systems, and overall system and framework improvements. For this release, the large majority of additions and changes has been made to functional components and plugins, rather than the core framework. This indicates that Fawkes has matured over the years and provides a solid base for robot software applications.

The new software components cover typical robot tasks like self-localization, (point cloud based) perception, robot arm motion planning, and integration with other software frameworks. Many of these components are possible because we integrated other third party robot software components and make it available within the Fawkes ecosystem. We have also added support for several common robot platforms like the Nao, the Robotino, and the Roomba. These robots can now be used easily out-of-the box with Fawkes.

Here is a more detailed (yet still incomplete) list of additions and changes in Fawkes 0.5.0.

ROS Integration
This version integrates closely with ROS, the Robot Operating System. It can provide data acquired in Fawkes to ROS and vice versa, integrate ROS' move_base locomotion planner, and several plugins now use rviz to visualize their internal state.
OpenNI Integration
Fawkes can now use OpenNI to acquire RGB-D data from sensors like the Kinect, and make use of the provided hand and user tracking capabilities.
Point Cloud Processing
New tool support and plugins have been added to make use of the Point Cloud Library (PCL). For example, a plugin to analyse tabletop scenes has been added identifying the position of table in front of the robot and objects on it.
OpenRAVE Manipulation Planning
An integration plugin for OpenRAVE has been added that allows plugins to use, for example, its motion planning capabilities. The Katana 5 DoF arm hardware plugin has been extended to make use of this new capability.
New Hardware Platforms
Fawkes can now work on robot platforms like the Nao, the Robotino, and the Roomba. The plugins integrate the robot's hardware capabilities and make it easily available to other plugins.
Self-localization
Fawkes now comes with an Adaptive Monte Carlo Localization plugin which has been ported from ROS. Using a known map an frequently taken 2D laser scans it can determine the robot's position within the map.
Coordinate Frame Transforms Framework
Fawkes now includes a framework and library for easily calculating transforms for points in different coordinate frames. The system is based on and thus compatible with ROS' tf framework.
RRD graphing
A new plugin provides RRD graphing capabilities for plugins. For example, for a MongoDB Logging project performance graphs have been created with this framework.
CLIPS Expert System Integration
The CLIPS rule engine for building Expert Systems has been integrated into Fawkes. Plugins can now easily acquire a CLIPS environment and start using it. For example, the Carologistics team has used this to create a reasoning agent to participate in the RoboCup Logistics League sponsored by Festo.

Thank you to the contributors who made this release possible. The new release is available on the download page. The documentation is continuously extended and improved in our Trac Wiki.

Posted by Tim Niemueller on September 27, 2012 12:43

Fawkes 0.4.2 released

The new GCC version 4.6.0 uncovers more issues than previous GCC releases. With this release, these have been fixed. These bugs did not manifest in typical operation. Additionally, Linux 2.6.38 drops support for Video4Linux version 1, and thus its (non-)existence must be detected. On newer kernels, only the Video4Linux version 2 interface is built now. The issues had been fixed in the master branch a while ago.

These fixes have now been backported to the 0.4 branch, in particular for the upcoming Fedora 15 release. It was detected by our continuous integration build hosts.

Posted by Tim Niemueller on February 22, 2011 12:05

Fawkes 0.4.1 released

In the last few months some minor improvements have been made that we want to share with this release. In particular packaging Fawkes for Fedora shed light on some shortcomings.
Manual pages
All console and GUI tools now come with manual pages. They describe the available options more in-depth than the already existent usage instructions that you get when calling a tool with the "-h" parameter.
Configuration files in user home directories
Until now Fawkes expected a central configuration directory writable by everybody running Fawkes on the system. This is typical on real robots, but this can pose problems on multi-user systems, e.g. during development or using simulation environments. Now, the configuration can still be read from this directory, but information is stored in a .fawkes directory in the user's home directory.
Enforcing undefined symbols
On shared libraries and plugins undefined symbols were not enforced. This is the default behavior of the GNU linker. This can lead to plugins which cannot be loaded later. To uncover this kind of error earlier we now enforce all symbols.
Fixes
This release contains some minor bug fixes and adjustements for the latest version of libmicrohttpd.
This released contains 35 new commits (overview).

Posted by Tim Niemueller on January 9, 2011 19:55

Fedora now includes Fawkes

Recently we proposed Fawkes for inclusion into Fedora. The review has completed and the package has been accepted! Fawkes and its development environment can now be installed out of the box, see the download page for instructions.

On a related note Fawkes has been chosen by the Fedora Robotics SIG to play a major role in the Fedora Robotics Spin along with Player and Stage. The main idea of this spin is to have software on a LiveDVD providing a ready-to-use robotic simulation environment, with a demo application to introduce users step by step to the available software. Additionally as much robotics related software as possible, ranging from packages for hardware access (laser scanners, robotic arms) and robotic middleware frameworks, to full-blown simulation environments and libraries relevant for robotic applications like vision processing or task control will be added. The Robotics Spin has been proposed as a Fedora 15 Feature.

For this LiveDVD Fawkes will be used in combination with Player and Stage to provide the environment for the demonstration application. In particular, the behavior engine based on Lua will be the tools used to guide the user to complete tasks of increasing complexity within the Stage simulation environment. Among others like Player/Stage and the RoboCup 3D Soccer Server Fawkes will be one of the highlighted robot software packages.

Posted by Tim Niemueller on November 16, 2010 18:09

Fedora review request filed

A review request has been filed to include Fawkes in Fedora. This is a major step and the driving factor for the system wide installation support which was added in Fawkes 0.4.

Once the package is included in Fedora, it will provide its users with the ability to run Fawkes out-of-the-box and start developing quickly. It is also one of the corner stones for the planned Fedora Robotics LiveCD by the Fedora Robotics SIG. It is envisioned to contain a complete simulation environment based on Fawkes, Player, and Stage. A demo application will introduce newcomers step by step to robotics and the related software systems.

Posted by Tim Niemueller on November 1, 2010 20:45

Fawkes 0.4 released

After one year of development and several RoboCup events to harden the system we are happy to release the next major release of Fawkes. Here is some info about the improvements compared to Fawkes 0.3:
System-wide installation
The build system has been extended to provide support for system-wide installation. With this Fawkes can be packaged for direct installation on Linux distributions. Packages for Fedora are work-in-progress.
Blackboard logging
Plugins and tools have been written to log data written to the blackboard, replay and view the logs. This is important to record test data and later work on this data.
Extended hardware support
New hardware has been made available. A special camera module provides access to the extended functionality of the AlliedVision Pike camera. The SwissRanger SR4000 can now be used as Firevision camera to access depth images. And finally the Hokuyo URG laser range finders can now be used with the laser plugin and the plugin can provide multiple laser sources at the same time.
Blackboard interface timestamps
Blackboard interfaces now have a modification timestamp which is set either automatically by the writer or to a user-supplied value. Interfaces can be queried if data has been modified since last read.
MSL2010 Refbox and SPL GameController 7 protocols
The refboxcomm plugin can now communicate with the MSL2010 refbox and with the SPL GameController v7.
World Info Broadcasting
The world model can now broadcast world information instead of multicasting, which in some situations is more reliably and a requirement for some RoboCup leagues.
XML-RPC plugin
A demonstration plugin to access Fawkes via XML-RPC has been added.
Line detection in laser data
For demonstration purposes a plugin has been added to detect straight lines in 2D laser data.
363 commits and various topic branches have been produced during this time by some nine developers (only counting the topic branches that have been merged before the release). Thanks to all who contributed!

Posted by Tim Niemueller on August 17, 2010 05:51

Final review of upcoming release 0.4

About half a year ago we made the initial Fawkes 0.3 release. Now we are close to releasing the next version 0.4, which contains several improvements and new functionality. For a developer's summary please have a look at the mailing list post. The code is currently under final review in the current-pre-0.4 branch, where all relevant feature branches have been merged and final fixes and cleanups have been applied. Everybody is invited to have a look at the code and give review suggestions before the release in about a week. Initial packages for Fedora have been built and with the release we will likely present binary packages for easy installation for the first time.

Posted by Tim Niemueller on February 4, 2010 16:08

Fawkes initial public release

After RoboCup 2006, when the AllemaniACs of the Knowledge-Based Systems Group started to work on a new mid-size soccer robot, the decision was made to write a new software system. After almost three years it has evolved into a versatile robot software framework used on different platforms, real robots and in simulation.

Today we release the software as Open Source Software to the general public, in the hope that it will be useful to others and to build a community to create a joined effort to further improve and expand Fawkes. The now released software version 0.3 is a particular milestone for the project and its direction. It's an experimental base that we will now continue to improve making it easier to use Fawkes and to extend it by more robotics applications and tools. You are welcome to join the team!

Posted by Tim Niemueller on August 13, 2009 15:51