Embedded System

Textbook
P. 232~277

1
Contents

I. OpenCR

II. rosserial

III. TurtleBot3 Firmware

Textbook
P. 232~277

2
What is the Best
Computing Resource I’m a
Robot!

for Your Robot?

CPU? MCU?

3
The proportion of embedded systems in robots

4
The proportion of embedded systems in robots
Intel NUC
for Sensor and Communication

5
The proportion of embedded systems in robots
Intel NUC
for Sensor and Communication

ARM Cortex-M
for Motor control and Analog Sensors

Small embedded systems

are everywhere in ROBOT!

6
 Types of computer resources and ROS support

32-bit MCU
8/16-bit MCU ARM A-class x86
"small" 32-bit MCU "big" 32-bit MCU

Example Chip Atmel AVR ARM Cortex-M0 ARM Cortex-M7 Samsung Exynos Intel Core i5
Example System Arduino Leonardo Arduino M0 Pro SAM V71 ODROID Intel NUC
MIPS 10's 100's 100's 1000's 10000's
a few GB 2-16 GB
RAM 1-32 KB 32 KB 384 KB
(off-chip) (SODIMM)
Max power 10's of mW 100's of mW 100's of mW 1000's of mW 10000's of mW
Peripherals UART, USB FS, ... USB FS Ethernet, USB HS Gigabit Ethernet USB SS, PCIe

ROS not installable ROS installable

Morgan Quigley (OSRF) "ROS 2 on “small” embedded systems", ROSCon2015

Embedded systems in ROS
• Unlike PC, ROS can not be installed in embedded system
• For securing real-time factor and hardware control, connection
between the embedded system and the ROS installed PC is required.
• ROS provides a package called ‘rosserial’ for this function!

Sensor

TTL/RS485

OpenCR USB Raspberry Pi 3

(ARM Cortex-M7) (ARM Cortex-A53)
TTL/RS485

[Configuration of PC and embedded system in TurtleBot3] 8

 ‘rosserial’
• ROS package acting as an intermediary for message communication between PC & Controller
• Example) Controller  Serial(rosserial protocol)  PC(Retransmission with ROS messages)
• Example) Controller  Serial(rosserial protocol)  PC(Change ROS messages to serial)

http://wiki.ros.org/rosserial
‘rosserial’ server & client

message message

rosserial rosserial
topic topic
server client
rosserial
protocol
service service

10
‘rosserial’ server & client
$ sudo apt-get install ros-kinetic-rosserial ros-kinetic-rosserial-server ros-kinetic-rosserial-arduino

• rosserial server
• rosserial_python: Python language based rosserial server, very popular
• rosserial_server: C++ language based rosserial server, Some functions are limited
• rosserial_java: Java language based rosserial server, Used with android SDK

• rosserial client
• rosserial_arduino: Support Arduino & Leonardo, OpenCR uses it with few
modification
• rosserial_embeddedlinux: Linux Library for Embedded System
• rosserial_windows: Support Windows operating system,
Windows application and communication support
• rosserial_mbed: Support ARM’s mbed
• rosserial_tivac: Support TI’s Launchpad
11
 ‘rosserial’ Protocol (http://wiki.ros.org/rosserial/Overview/Protocol)

1st Byte 2nd Byte 3rd Byte 4th Byte 5th Byte 6th Byte 7th Byte N Bytes Byte N+8

Checksum Checksum
Sync Flag Serialized
Message Message over over
Sync Flag / Protocol Topic ID Topic ID Message Topic ID and
Length (N) Length (N) message
version Data Message Data
length

(Value: 0xFF) (Value: 0xFE) (Low Byte) (High Byte) (Low Byte) (High Byte)

Sync Flag Header to know the start position of the packet. It is always ‘0xFF’

Sync Flag / Protocol version A protocol version, ROS Groovy is ‘0xFF’, & ‘ROS Hydro’, ‘Indigo’, ‘Jade’ and ‘Kinetic’ are ‘0xFE’

Message Length (N) Data length of message, 2 Byte = Low Byte + High Byte, Low Byte are transmitted first, followed by ‘High Byte’

Checksum for validating message length headers

Checksum over message length Checksum = 255 - ( (Message Length Low Byte + Message Length High Byte) %256)

It is an ID for identifying the type of message. 2 Byte = Low Byte + High Byte
Topic ID ID_PUBLISHER=0, ID_SUBSCRIBER=1, ID_SERVICE_SERVER=2, ID_SERVICE_CLIENT=4,
ID_PARAMETER_REQUEST=6, ID_LOG=7, ID_TIME=10, ID_TX_STOP=11

Serialized Message Data It is the data to transmit the ROS message in serial form EX) IMU, TF, GPIO

Topic ID and checksum to validate message data

Checksum over Topic ID and Message Data Checksum = 255 - ( (Topic ID Low Byte + Topic ID High Byte + data byte values) % 256)
12
Limitations of ‘rosserial’
• Memory
• The number of publishers, subscribers, and transmit/receive buffer size must be
defined in advance
• Float64
• Microcontroller does not support 64-bit real numbers, so it is converted to 32-bit
• Strings
• Instead of storing string data in a string message, only pointer values of externally
defined string data are stored in the message
• Arrays
• Used with specified array size because of memory constraint
• Communication Speed
• In case of a UART with the speed of 115200 bps, response time becomes slower as
the number of messages increases

13
OpenCR; Open-source
Control module for
ROS

14
OpenCR (Open-source Control Module for ROS)
• It is an embedded board that supports ROS and is used as the main controller in TurtleBot3
• Open source H/W, S/W : H/W information such as circuit, BOM, Gerber data, and all S/W of OpenCR as open source
• Configuration to overcome the limitations of rosserial
• 32-bit ARM Cortex-M7 with FPU (216MHz, 462DMIPS)
CAN LED Dip Switch GPIO JTAG OLLO Arduino

• 1MB flash memory

• 320KB SRAM
• Float64 support
DC3.3V OUT
UART1

• Using USB packet transmission DC5V OUT

instead of UART UART2
DC12V OUT
• Power design for use with SBC series
computers and various sensors
SPI

• 12V@1A, 5V@4A, 3.3V@800mA Power Switch USB

• Expansion port Power OUT

User Button

• 32 pins(L 14, R 18) Boot Button

*Arduino connectivity DC Adapter In Reset Button

• OLLO Sensor module x 4 pins RTC Battery

• Extension connector x 18 pins

Battery In TTL IMU RS485 Arduino Buzzer

15
Built-in Sensor & Communication Support
+Y
• Built-in Sensor
• Gyroscope 3Axis
• Accelerometer 3Axis
• Magnetometer 3Axis +X
• Voltage measuring circuit
Gyroscope, Accelerometer

+X
+Z

• Communication Support
• USB, SPI, I2C +Y
+Z
• TTL, RS485, CAN
Magnetometer 16
 Block Diagram & Flash Memory Map
SMPS Battery
12V 11.1V
0x08100000

Step Up/Down 12V 1A

Hot-swap
Step Down 5V 4A 768KB Firmware

LDO 3.3V 0.8A

0x08040000
TTL 3pins IMU Buzzer USB
Dynamixel 128KB Reserved
RS485 4pins User LED x 6
0x08020000
UART x 2
User Button x 2 32KB
STM32F746
CAN
Dip Switch x 2 0x08018000 EEPROM
OLLO x 4
32KB
JTAG/SWD 2.54mm 2.54mm 0x08010000
20pins 32 pins 20 pins
64KB BootLoader

0x08000000
Extension
Debugger Arduino Shield
Connector
17
Establish Development Environment
• OpenCR supports Arduino IDE
• How to build OpenCR development environment
• http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_opencr1_0/
• http://emanual.robotis.com/docs/en/parts/controller/opencr10/

18
‘rosserial’ Example (LED Control)
$ arduino
• After running Arduino, Load basic example [File] > [Examples] > [ROS] > [01.
Basics] > [a_LED], build and upload
• This example defines the ‘led_out’ subscriber with 4 LEDs using ‘std_msg/Byte’
which is a ROS standard data type
• When the subscriber callback function is called, if the bit is 1, the LED is
turned on; if it is 0, the LED is turned off

USER1
USER2
USER3
USER4

19
‘rosserial’ Example (LED Control)
#include <ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Byte.h>
int led_pin_user[4] = { BDPIN_LED_USER_1, BDPIN_LED_USER_2,
BDPIN_LED_USER_3, BDPIN_LED_USER_4 };
ros::NodeHandle nh;
void messageCb( const std_msgs::Byte& led_msg) {
int i;
for (i=0; i<4; i++)
{
if (led_msg.data & (1<<i))
{
digitalWrite(led_pin_user[i], LOW);
}
else
{
digitalWrite(led_pin_user[i], HIGH);
}
}
}
ros::Subscriber<std_msgs::Byte> sub("led_out", messageCb );
void setup() {
pinMode(led_pin_user[0], OUTPUT);
pinMode(led_pin_user[1], OUTPUT);
pinMode(led_pin_user[2], OUTPUT);
pinMode(led_pin_user[3], OUTPUT);
nh.initNode();
nh.subscribe(sub);
}
void loop() {
nh.spinOnce();
}
20
Running ‘rosserial server’ and Publishing Topics for LED Control
• After running ‘roscore’, run ‘rosserial sever’
$ roscore

$ rosrun rosserial_python serial_node.py __name:=opencr _port:=/dev/ttyACM0 _baud:=115200

[INFO] [1495609829.326019]: ROS Serial Python Node
[INFO] [1495609829.336151]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1495609831.454144]: Note: subscribe buffer size is 1024 bytes
[INFO] [1495609831.454994]: Setup subscriber on led_out [std_msgs/Byte]

• Let’s use ‘rostopic pub’ to control the LED by entering a value in ‘led_out’
$ rostopic pub -1 led_out std_msgs/Byte 1  USER1 LED On
$ rostopic pub -1 led_out std_msgs/Byte 2  USER2 LED On
$ rostopic pub -1 led_out std_msgs/Byte 4  USER3 LED On
$ rostopic pub -1 led_out std_msgs/Byte 8  USER4 LED On
$ rostopic pub -1 led_out std_msgs/Byte 0  LED Off
21
Publisher Node & Subscriber Node for LED Control
• Let’s run rqt_graph
• It shows that rostopic command acts as a publisher node and
opencr(rosserial server) is acting as a subscriber
• It is possible to confirm that information is being transmitted and
received between the two nodes with the topic name ‘/led_out’

22
‘rosserial’ Example (IMU Control)

23
‘rosserial’ Example (TurtleBot3 Burger)

24
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