NET 4. This is a separate manual step that takes several minutes. Search Downloads. OBS Studio. Google Earth. Sublime Text. VLC Media Player. Microsoft Robotics StudioAddressing the ChallengesRuntime environment— Execute, monitor, and interact with robotics applicationsAuthoring environment— Write, orchestrate, and deploy robotics applicationsSimulation environment— Execute robotics applications using simulated hardware, physicalentities, and terrainACCU Bernhard Merkle Based on message passing Focus on coordination primitives Sequential execution butwith no thread blocking, with no need for callback— Execution context for services Isolation from infrastructure Isolation from other servicesACCU Bernhard Merkle Example: ReceivePort string port new Port string iter.
Activate Arbiter. Now I'm ready to create the Boe-Bot simulation service. If you are creating the project from scratch, you will need to create a new DSS service using the Visual Studio template. You can name the project SimulatedBoeBot. In addition to the assembly references mentioned earlier, you will need to add a reference to the Microsoft. Framework and to add the following namespace references to the top of the SimulatedBoeBot.
The Xna references will be used in the code that defines the Boe-Bot entity type. Engine namespace. One of the primary tasks for every simulation service is to insert entities into the simulation scene. This should be done when the service starts, so typically a call to a method named PopulateWorld is added to the Start method. For the Boe-Bot simulation, the PopulateWorld method will look like this:.
A directional light, which is meant to represent the sun, is also inserted into the simulation the code for this method is shown in Figure The AddGround method utilizes the HeightFieldEntity type to create a large horizontal plane at zero elevation.
A texture image, provided with the MSRS installation, is used to represent the ground. The code for this method is seen in the following:. The next thing to add is the Boe-Bot entity. The AddBoeBot method accepts an incoming Vector3 parameter which is used to represent the robot's position.
This position will be passed to the BoeBot entity constructor, which was created earlier. The code for this method is shown here:.
The last entity to add is a solid box used to represent an obstacle. See Figure 11 for the code for this method. Most services will partner with other services to access data and functionality needed by the service.
These partner services are referenced at the top of the implementation class using the Partner attribute. For example, the Boe-Bot simulation service will partner with the simulation engine service.
The code to include this partner declaration looks like this:. DSS services use an XML-based file known as a manifest to list the partner services associated with a base service. This tells the MSRS runtime how the base service should load and interact with these partner services.
The DSS Manifest editor is a visual tool that allows you to drag and drop partner services onto a design surface. Before using the DSS Manifest editor, you will need to successfully compile the base service. This will create the assembly files used by the DSS Manifest editor. Once the DSS Manifest editor is loaded, a list of all available services will be included in the left-hand pane. To begin, you will need to locate the base service in the list of available services and drag an instance of it onto the design surface.
If you do this for the Boe-Bot simulation service, the design surface will include a node for the SimulatedBoeBot service and a sub node for the simulation engine service. One such service, the SimpleDashboard, can be used as a control panel for simulated robots. The SimpleDashboard allows you to start other services used to control specific functionality for your robot.
For example, the code in the SimulatedBoeBot service simply populates the simulation scene with entities, one of which is the Boe-Bot. There is no code in the service that actually moves the robot. You borrow this code from the Drive service. In order to load and use the simple dashboard, you must add it to the manifest by locating an instance of SimpleDashboard in the list of services and dragging it to the bottom of the design surface.
The end result should look like Figure You are now ready to run the SimulatedBoeBot service. This can be done by simply clicking Debug and Run from the Visual Studio menu. At first, a command prompt window should appear. Once the service has loaded, two additional windows should appear. The interface for the Simple Dashboard is a Windows form that includes several group boxes.
The right-hand side of the form see Figure 13 includes a group box titled Remote Node. To begin, you will need to enter the name of your local machine localhost in the machine textbox and click Connect. This will initiate a connection with the SimulatedBoeBot service and will load entity partner services, such as the drive service that is shown in the directory listbox. The drive service is used to send power to the wheels that control the Boe-Bot.
This allows you to move the Boe-Bot around the simulation using either the virtual joystick control or an actual joystick connected to your computer. To begin, you will need to double-click the SimulatedBoeBot item that appears in the listbox. In this lab, you will learn about the heart of robotics programming using the Robot Operating system ROS with Python and how to use Gazebo, the robot simulator. You will also learn how to deploy your code to a real industrial robot.
This lab will give you the confidence to start your journey with intelligent collaborative robotics. You do not need an actual robot; this lab is a simulation. Paul-E is a 7 degree of motion, integrated collaborative robot aka cobot designed with embedded vision, smart swappable grippers, and high-resolution force control. The robot purpose is to automate specific industrial repetitive tasks, it comes with an arm that has a gripper which can be easily replaced. ROS is a robotics middleware licensed under an open source.
ROS provides libraries, hardware abstraction, device drivers, visualizers, message-passing, package management, and other tools to help software developers create robot applications. Gazebo allows to build 3D scenarios on your computer with robots, using obstacles and other objects.
This allows to test robots in complex or dangerous scenarios without any harm to the real robot. Rviz is an Open Source 3D visualizer that uses sensors data and custom visualization markers to develop robot capabilities in a virtual environment. Microsoft Bot Framework and Cognitive Services provide a platform to develop intelligent bots.
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