ROS在线机器人编程：远程教育与培训的新方案

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"ROS-based Online Robot Programming for Remote Education and Training" ROS (Robot Operating System) 是一个开源操作系统，专门用于机器人技术，它提供了一个框架，使得开发者可以编写各种模块和软件包来控制和协调机器人的行为。基于ROS的在线机器人编程为远程教育和培训带来了革命性的变化。RPN（Robotic Programming Network）是这个领域的创新举措，旨在将现有的远程机器人实验室提升到新的层次。通过RPN，用户可以在互联网浏览器中编写ROS代码，并只需单击一下即可在远程机器人上运行。 RPN的核心功能在于，代码在机器人服务器上全速执行，即没有通信延迟，程序的输出结果会立即反馈回来。这种系统建立在Robot Web Tools的基础上，可以无缝集成任何基于ROS的机器人或模拟器。这意味着无论用户身在何处，只要有网络连接，就能进行实时的机器人编程和调试。在远程教育和培训方面，RPN具有巨大的潜力。它可以嵌入到在线学习平台，如Moodle，创建编程课程，让研究人员和学生能够访问并实践。通过这种方式，学生可以在不实际接触硬件的情况下，学习和掌握机器人编程，降低了教育成本，扩大了教育的覆盖范围。文章介绍了RPN在web启用的ROS系统中的应用，以及如何在模拟器和真实机器人上进行实验。这些实验表明，RPN能够有效支持远程教学环境，让学生在安全、可重复的环境中学习复杂的机器人控制和算法。通过与Moodle的集成，教师可以创建测验、作业和项目，跟踪学生的进度，并提供即时反馈。此外，RPN的实施还促进了协作学习，因为多个用户可以同时编辑和测试代码，这对于团队项目和远程合作至关重要。这种方式也允许专家和教师在不同地点进行实时指导，提高了教学质量。 ROS-based Online Robot Programming通过RPN为远程教育和培训提供了强大的工具，不仅提升了学习体验，还为未来的机器人专家和工程师提供了更广泛的学习机会。随着技术的进一步发展，我们可以预见，ROS在远程教育领域将发挥越来越重要的作用，推动机器人技术的普及和创新。

ROS-based Online Robot Programming for

Remote Education and Training*

Gustavo A. Casa

, Enric Cervera

, Amine A. Moughlbay

, Jaime Alemany

and Philippe Martinet

Abstract— RPN (R

obotic Programming Network) is an ini-

tiative to bring existing remote robot laboratories to a new

dimension, by adding the ﬂexibility and power of writing ROS

code in an Internet browser and running it in the remote robot

with a single click. The code is executed in the robot server

at full speed, i.e. without any communication delay, and the

output of the process is returned back. Built upon Robot Web

Tools, RPN works out-of-the-box in any ROS-based robot or

simulator. This paper presents the core functionality of RPN

in the context of a web-enabled ROS system, its possibilities

for remote education and training, and some experimentation

with simulators and real robots in which we have integrated

the tool in a Moodle environment, creating some programming

courses and make it open to researchers and students (http:

//robotprogramming.uji.es).

I. INTRODUCTION

Online robots and remote laboratories have been around

for nearly two decades, with considerable success [1]. With

cross-platform middleware [2] apparition and the adoption of

new powerful World Wide Web standards [3], we may well

be approaching a new golden era for web robots.

The availability of such platforms will surely increase the

productivity of the robotics research community, yet they

will also become invaluable as educational resources, for

teachers, students and interested public. Sophisticated robot

platforms could be made accessible worldwide, being the

only cost for the user the price of an Internet connection.

Nowadays, there already exists a myriad of web-enabled

robots, in theory ready to be remotely controlled, their

sensors and outputs visualized. An awesome example of

such a system is the PR2 Remote Lab [4], which enables

a large community of researchers to use a state-of-the-art

yet expensive platform.

However, to our knowledge, most existing systems lack the

fundamental capacity of allowing remote users to easily write

and execute a program as if it were running on the real robot.

Usually, the interface only makes it possible to control the

elements of the robot. In some cases, scripting capabilities

for executing a limited set of commands are provided [5].

*This paper describes research done at the Robotic Intelligence Labo-

ratory, with support in part by Ministerio de Economa y Competitividad

(DPI2011-27846), by Generalitat Valenciana (PROMETEOII/2014/028), by

Universitat Jaume I (P1-1B2014-52), and by IEEE RAS under a CEMRA

grant (Creation of Educational Materials for Robotics and Automation).

Enric Cervera, Gustavo A. Casa

n and Jaime Alemany are with

Robotic Intelligence Laboratory, Jaume-I University, 12071 Castell

o, Spain

{ecervera, al079333}@uji.es

Amine A. Moughlbay and Philippe Martinet are with IRCCyN,

Ecole Centrale de Nantes, France {Amine.Abou-Moughlbay,

Philippe.Martinet}@irccyn.ec-nantes.fr

In this paper, we present a system that allows users to

remotely program a ROS-enabled robot or simulator and ex-

plain how we are testing it through a Learning Management

System, a Moodle system

in which we have created several

courses and one challenge. ROS is a ﬂexible framework for

writing robot software. It collects tools, libraries, and con-

ventions to simplify the task of creating complex and robust

robot behavior across a wide variety of robotic platforms.

With the advent of cheap robotic kits, teaching with robots

has become popular, specially to ease the learning process of

introductory programming courses [6], [7], [8], [9]. Robots

provide entry level programming students with a physical

model to visually demostrate concepts and ideas.

The programs consist of fully-functional ROS scripts

which are executed as ROS nodes in the server. As such,

they can access all ROS topics and services, without remote

communication overhead during execution. The output of the

process is returned back to the user’s browser, and a bag of

recorded topics is readily available to download for further

analysis. The server connects to a Moodle External Tool,

which allows the user to interact with IMS LTI-compliant

learning resources and activities [10].

The rest of this paper is organized as follows: Section II

describes some related work on web-based robot laboratories.

An overview of the RPN tools is presented in Section III.

Thorough experimental work with simulators and robots

is described in Section IV. Finally, conclusions and future

works are outlined in Section V.

II. RELATED WORK

Practically from its conception between the late 1980s and

early 1990s, the Internet was realized to allow remote users

to interact with and monitor robots [1].

After being online for over ten years, the Telerobot of

the University of Western Australia has become one of the

most popular remote laboratories, and similar systems have

proliferated since then [5], [11], [12], [13], [14], [15], [16].

The PR2 Remote Lab [4], [13] represents a milestone in

online robot systems. Previous attempts focused on simple

experiments and online learning, and did not build upon

shared robot middleware frameworks. This laboratory uses

Robot Web Tools [17], a collection of open-source modules

and tools for building web-based robot apps, allowing web

applications to interface with robots running ROS.

Another milestone is the RoboEarth project [18]. A more

ambitious system, it consists of a network and database

http://www.moodle.org

http://www.ros.org/wiki/rospy

2015 IEEE International Conference on Robotics and Automation (ICRA)

Washington State Convention Center

Seattle, Washington, May 26-30, 2015

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