The ROS package for Airbotics.

Related tags

Miscellaneous python robotics ros slam
Overview

airbotics

The ROS package for Airbotics:

  • Developed for ROS 1 and Python 3.8.

  • The package has not been officially released on ROS yet so manual installation is still required.

  • The package contains a single node called airbotics that either: 1) subscribes to a map topic on the robot and sends it to the cloud to be saved, or 2) loads a map from the cloud and serves it to rest of the robot over a topic.

To install

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/Airbotics/airbotics
cd airbotics
pip3 install -r requirements.txt
cd ../..
catkin_make
source devel/setup.sh

To run

Firstly, you must set your API Key as an environment variable so the client can authenticate with the backend. Your API key can be generated by using the web console, API, CLI or SDKs.

export AIR_API_KEY=<insert-api-key-here>

The Airbotics node must be started using the launch file and can be run in two modes: save or serve. You must provide a map_slug as a parameter to the launch file.

Send a map from the robot to the cloud

The map must exist in your account before you run this command.

roslaunch airbotics save.launch map_slug:=<some-map-slug>

Load a map from the cloud and serve it to the robot

The map must exist in your account and have at least one version before you run this command.

roslaunch airbotics serve.launch map_slug:=<some-map-slug>

Parameters

You may provide other optional parameters to the launch file:

Name ROS Parameter Type Default Description
map_version /air/map_version str latest Which map version to load from the cloud. Must be a postive int or 'latest'. Only used when serving.
map_topic /air/map_topic str /map Name of the topic to which maps are published.
map_metadata_topic /air/map_metadata_topic str /map_metadata Name of the topic to which map metadata is published.
map_throttling /air/map_throttling int 5 Whether to throttle sending updates. Will send every x map updates received. Set to 0 to send every update.
map_origin /air/map_origin [float] [0.0, 0.0, 0.0] The 2-D pose of the lower-left pixel in the map, as (x, y, yaw). Only used when serving.
map_resolution /air/map_resolution float 0.1 Resolution of the map. Only used when serving.
map_frame_id /air/map_frame_id str map Frame of the map. Only used when serving.

Example of running the Airbotics node in save mode with all relevant parameters:

roslaunch airbotics serve.launch map_slug:=<some-map-slug> \
    map_topic:=/robot/map \
    map_metadata_topic:=/robot/map_metadata \
    map_throttling:=5

Example of running the Airbotics node in serve mode with all relevant parameters:

roslaunch airbotics serve.launch map_slug:=<some-map-slug> \
    map_version:=42 \
    map_topic:=/robot/map \
    map_metadata_topic:=/robot/map_metadata \
    map_origin:=[10.0,10.0,0.0] \
    map_resolution:=0.05 \
    map_frame_id:=map

Contributing

We love contributions! Please see our Contributing guide for more information.

License

The software in this repository is licensed under the Apache 2.0 License. Copyright 2021 Airbotics.

Comments
  • Collect device data sent by aktualizr

    Collect device data sent by aktualizr

    • Ingest and store info that aktualizr sends: network info, hardware info, installed packages and configuration data.
    • Expose endpoints for admins to query this.
    feat 
    opened by AndrewAirbotics 0
  • Build and push system image to treehub

    Build and push system image to treehub

    • Build the reference Yocto image with the meta-updater layer.
    • Make whatever modifications to treehub are necessary for it to accept an ostree repo being pushed by sota_tools during the build process.
    feat 
    opened by AndrewAirbotics 0
  • Revoke provisioning credential

    Revoke provisioning credential

    • Add the ability for an admin to revoke a provisioning credential so that no robots can provision with it from that time onwards, could be required in the event it becomes comprised.
    • Admins should be able to see a list of all provisioning credentials created in a namespace, when they were created, by whom, expiry information, and other metadata.
    • Admins should be able to specify the expiry date when creating a provisioning credential.
    • Could be implemented with an CRL but the robot gateway may need to restarted leaving it unavailable.
    feat 
    opened by AndrewAirbotics 0
  • Provision robot gateway

    Provision robot gateway

    • Develop a gateway for robots to connect to over mutual TLS. It will authenticate them, terminate TLS, extract their robot id (or ecu serial) from the Common Name field, construct an appropriate URL and proxy it on to the main server.
    • https://localhost:3000/v0 -> http://localhost:3001/api/v0/<robot-id>.
    • NOTE: this may require a change on the main server that removes the namespace from the url since a robot shouldn't need to know this.
    • The gateway could be nginx in Docker or AWS API Gateway in Localstack.
    • Will need a script to provision certs ahead of standing up the gateway:
      • One Root CA for all of Airbotics (future versions could have one per tenant).
      • Generate a cert for the robot gateway.
    • The main server will generate robot certs on-demand signed by the private key of the Root CA (for now).
    feat 
    opened by AndrewAirbotics 0
  • Approvals

    Approvals

    • Require the approval of some set of users before a rollout can be created.
    • Approvals could be assigned:
      • to a group of robots (i.e. Bill is the account manager for this customer's group of robots and he needs to approve any changes).
      • to a stack (i.e. Mary is the lead dev for this robot and needs to approve any rollouts of this set of images).
      • universally in the namespace (i.e. Jane is the head of ops and needs to approve everything).
      • ad hoc at the time a rollout is created (i.e. this rollout is a special case so John needs to approve it).
    • An approver can 'approve' or 'reject' a rollout. All approvers need to unanimously approve, i.e. everyone has veto power.
    • Potentially an approver can leave a note explaining why a rollout was rejected, or they could use Slack.
    feat 
    opened by AndrewAirbotics 0
Owner
Airbotics
Open Source Cloud Robotics
Airbotics
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