Re: Using orocos for a team of mobile robots

On Fri, 4 Aug 2006, Jurge van Eijck wrote:

[...]
> I have some questions:
>
> *Integrate Development Environment:
> *Is it possible to import Orocos in an IDE as KDevelop or Eclipse?

It's C/C++ code, so why not? KDevelop is a KDE application, so most
probably also the CMake support will become perfectly integrated in
KDevelop quite quickly.

> *Other Frameworks*
> Can Orocos easily be combined with another framework like Marie or MIRO?
Yes, because both frameworks do (mostly) other things. Marie is, roughly
said, good at "visual programming" with components, and Miro is an
intercomponent communication framework.

> Has somebody experience with one of these frameworks?
I don't know of anybody who has already made the "glue" between these
frameworks...

> *Simulation*
> For developing soccer behavior it is a must to simulate the game.
> Team behavior can easier be tested in simulation than in real.
> It this kind of simulation possible in Orocos or is it better to use
> a separate simulation environment like Player/Stage?

Orocos has nothing comparable to PS yet. One master student has just
started his thesiswork on using Blender as the simulation environment for
Orocos, but don't hold your breath: PS will be far ahead of this
development for a long time to come...

> Suggestions or remarks are very welcome.
- we don't yet have mobile robot kinematics routines, but these are rather
   straightforward anyway.
- the TaskContext infrastructure of Orocos is perfectly suited to implement
   a "multi-agent" architecture, even distributed over a network: one agent
   per TaskContext, running its own intelligence, with very clean data, event,
   method, command and property interfaces between them.
- we are working at improving the integration between Orocos and BFL (=
   Bayesian Filtering Library), from which you could maybe use Kalman
   Filters or Particle Filters.
- Since you are geographically located quite close to most Orocos
   developers, I am sure that one of us could come and visit you for
   a more detailed discussion and some demos.

Herman
--
   K.U.Leuven, Mechanical Eng.,  Mechatronics & Robotics Research Group
     <http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 322480

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