WEBVTT 00:00.000 --> 00:09.280 So, hello everybody, so I'm Pierre Concier, and I will speak about the 00:09.280 --> 00:15.960 RDP.project, so it's very famous in the drawn walls, but it's more that just flying 00:15.960 --> 00:21.880 drawn, and so I will try to show you what we are doing and how we are doing it. 00:21.880 --> 00:26.880 So, monitor it slides up with myself, it seems like first time, so I'm French guys, so I 00:26.880 --> 00:31.080 got a strong accent, not shimmer with it. 00:31.080 --> 00:39.240 I'm a rubric engineer, so I only works with mobile robots, and I mostly works with 00:39.240 --> 00:43.280 small companies because that's the ones I got, that needs the more apps, so I'll 00:43.280 --> 00:48.760 work on drawing the books, solution, food delivery was drawn, in flat-eye 00:48.760 --> 00:53.880 mobile robotics arms, but for reverse form robotics, and you can see that 00:53.880 --> 00:59.240 it's a start committee, some stuff in open source community, mostly when a start 00:59.240 --> 01:04.880 working, because I'm a lazy guy, and it's easier to fix something on open source, and 01:04.880 --> 01:08.880 really it's against all the company I'm working for, so let's come convenient to your 01:08.880 --> 01:12.880 open source. 01:12.880 --> 01:20.480 So, RDP.so we get some clue in the name, there's RDP, and so RDP.so it's another 01:20.480 --> 01:26.960 pillar from micro vehicle, none, it managed that, so with no people in it, and none 01:26.960 --> 01:31.200 what planet is that, we insist on this on the screen time, and so the goal of the 01:31.200 --> 01:37.320 project is to help you and give you all the tools necessary to make your robots 01:37.320 --> 01:42.680 more on-grown, on-air, on-air, and see, and I see whatever you want, which whatever 01:42.680 --> 01:49.400 frame we want, you want. So, our open source is totally fast, it's free, open source 01:49.400 --> 01:55.560 everything is online, everything is share, and we also share all tools to develop 01:55.560 --> 02:00.800 robotic solution, to analyze what is happening on your robots, so we take some 02:00.800 --> 02:06.680 products of project to, yeah, be open on everything, even all discussion are quite 02:06.680 --> 02:12.280 open to the community. We want to have a project trusted, as we are dealing with 02:12.280 --> 02:17.800 flying vehicles, it can be very dangerous quickly, so we spend a lot of time to make 02:17.800 --> 02:25.200 a project, trustable and reliable and predictable, so you can just load the 02:25.200 --> 02:29.680 two-pilots into the vehicle, and trust that if we fly and go to one position 02:29.680 --> 02:38.000 for another with it crashing, or relatively, and we are quite versatile, and I will 02:38.000 --> 02:43.560 show you some picture of why we are versatile and in what sense we are versatile, so 02:43.560 --> 02:48.400 we are supporting a lot of different types of robots, and I speak of robots and not 02:48.400 --> 02:55.400 drones, because we support robots, so if you want to fly, and that's where we start, 02:55.400 --> 03:01.000 so, multicolors, so, especially from within nowadays, I want this system, this, we 03:01.000 --> 03:07.160 got planes, so, traditional planes that go to front motor, bike motor, planes that 03:07.160 --> 03:12.920 can take off and land vertically, if we question the ground, it's happen, but no 03:12.920 --> 03:18.760 worry, we got algae rover, so we can have rovers, and continue to give to move, so 03:18.760 --> 03:26.440 it's a different frame to strike, so we support like, yeah, different sharp drive, 03:26.440 --> 03:33.040 rover, traditional rover like cars, you can go on the river with rover and get a 03:33.040 --> 03:37.600 boat, so we got some example of boats there, if you don't have motor, we support sailing, 03:37.600 --> 03:43.640 takling, and everything on, see, technique, I'm not a sea guy, so, don't know, but 03:43.640 --> 03:52.960 try with it, but yeah, we got some species on boats, we got working rovers, we got self balancing, 03:52.960 --> 03:58.920 if you think we got marin, of course, we got anti-match bike cars, and if you need a 03:58.920 --> 04:05.360 balloon, we got some bleep and balloon control, so we support a large range of vehicle, 04:05.360 --> 04:09.960 it's a huge amount of work, but it's working very well with a single little pilot, so 04:09.960 --> 04:17.800 it's quite great, and it's open source, so that's what we are doing, so I was project, 04:17.800 --> 04:23.240 it's a very old project, maybe some of you remember like, I think as, from the small 04:23.280 --> 04:32.320 boat, we got some Arduino code to make fun and multi-cutter, and now we are way past this, 04:32.320 --> 04:40.040 and we got a full CCP code, a huge cut base with those and consumer material every 04:40.040 --> 04:48.600 months, so yesterday I was a talk to from Zephyrus, and it's looked like we got more 04:48.600 --> 04:57.160 fogs at them and more guitar style at Zephyrus, so we are really a huge project, and yeah, 04:57.160 --> 05:03.120 so what sales do we got, so all I will just speak with this, so we support the flame, 05:03.120 --> 05:08.840 there are any robots you want, but also a lot of electronic boards to make your robot 05:08.840 --> 05:16.120 moves, so generally we are doing only the software parts, and people bring that on, let's 05:16.200 --> 05:25.240 say computer, but we are more using micro chips, especially SM32 chips, and we are using 05:25.240 --> 05:32.680 this to make the could move with tight integration, so we overload, and push as in micro chips 05:32.680 --> 05:41.480 with a lot of capacity, a lot of things to deal with, and as a project we need some funding 05:41.480 --> 05:46.760 to like the websites, the CI, and everything, and pay some developers for support and technology, 05:46.760 --> 05:51.880 so we have associated some other product model programs to us some commercial support for 05:51.880 --> 05:59.400 companies that need some help, or individual, we don't look, but we will need to pay, so it's 05:59.400 --> 06:05.240 better to rely on community for your individual, but yeah, a lot of companies we are like more 06:05.240 --> 06:09.640 one and red companies that are supporting us and wants professional support from our 06:09.640 --> 06:16.040 people, so we try to support us as we can, as we project with the time we can allocate to 06:17.080 --> 06:21.480 company support, because we still need to maintain the project for everybody, so, 06:24.680 --> 06:31.000 yeah, it's not going on, let's pick up with software architectures or to something we're 06:31.160 --> 06:39.800 simple, so yeah, okay, we can see it, so I already said, we are CPP projects, so everything is 06:39.800 --> 06:50.280 a developed with CPP, it's not, we are not straight on CPP, live on CPP 17 or whatever, it's like 06:50.280 --> 06:56.520 a mixed off old C code and CPP, because yeah, we got a lot of bike runs from this, so we're trying 06:56.520 --> 07:03.800 to put a nice, but you can take times with all developers, I've got some ideas, let's start 07:03.800 --> 07:10.600 from the bottom, so we got some different artwork boards than it's support, so for this we need to 07:10.600 --> 07:18.600 support different type of operating system, so on microchips we focus on CBOS, that is also 07:18.680 --> 07:26.200 false R2S, it's not, this is a rebrand non, but it gives us the best performance for what we are 07:26.200 --> 07:33.800 doing, so the grid and we can integrate it, it's tightly with RDP, so that's great, and they 07:33.800 --> 07:44.280 got a great team, great open team, you can see that we got support for R2S, so that kind of work 07:44.280 --> 07:50.440 in progress, especially the ESP32 is not necessarily great in terms of performance for real 07:50.440 --> 07:56.920 time task and seeing that, and also support for free R2S is not that great, but we also support Linux, 07:57.960 --> 08:03.320 there was a time in the past where we said the future of the drone will be Linux, and 08:05.160 --> 08:10.600 did not manage, but it quite disappeared, but we still supported, and especially for simulation 08:10.680 --> 08:19.640 exploiting potons, we have Linux supports, so RDP is there, so also the magic happens there in this 08:19.640 --> 08:28.680 block, and we got an R, and our other adsorption layers, so we can, I recommend a PI and don't have to 08:28.680 --> 08:35.960 deal with the specificity of each OS, each time we want relatively cool play with, with all the 08:36.040 --> 08:44.920 kills, so we add everything behind the all, we got a lot of library for sensor passing, so we 08:44.920 --> 08:51.800 support those NFGPS, one find a batch with sensor, make sensor, whatever you want in robotics, 08:51.800 --> 08:56.920 everything is already coded, we got library for mostly everything you need for mobile robots, 08:58.600 --> 09:04.200 into our DPRD, if you don't want to touch to the CPP part and the manual to PPRD, you can 09:04.200 --> 09:11.480 have a lot of scripts that will bring some new features with what if I use the core of the audio 09:11.480 --> 09:18.200 pilot, so that's quite convenient and quite easy to make new things with it knowing the world 09:19.080 --> 09:26.760 codebase of RDP, so there's a flow for those that are not with the field and already lost, 09:27.320 --> 09:33.400 so we grab sensor data, we feed the cache, that is a tight estimation filter, 09:33.400 --> 09:37.960 that gives us where we are, where the robot is, what is doing and what it should be doing, 09:39.160 --> 09:44.040 with this data, into the console layers, the console layer will take decision on what it should do, 09:44.040 --> 09:49.880 to do what it should be doing, so we should point a, we should point day from point A, 09:50.920 --> 09:56.120 and from the console with some other to the motor, so that's something quite easy in robotics, 09:56.120 --> 10:04.280 nothing, no big deal there, so what's happening, so we got a lot of pilots that is this block, 10:04.280 --> 10:09.000 with all his sensors, so we embedded, we tried to embedded everything, we come from the drone, 10:09.000 --> 10:17.160 was a massive critical, so the autopilot hardware, it generates quite tight, quite integrated, 10:17.160 --> 10:23.480 so we got everything in, normally in single boards, if possible, and we need a really modeling, 10:23.480 --> 10:30.600 so normally we are using radio control and not wired control, because we want to go far, 10:30.600 --> 10:39.480 people generally go far with fine drone, always weather and bots, and it's cool to have a manual 10:39.480 --> 10:44.520 control, but it's better if you got something more advanced to do some missions, so we got mission, 10:45.080 --> 10:49.400 supervision, with some software, we got room consultation, 10:49.960 --> 10:55.960 okay, what's up with hardware, because what's the case with not software, but hardware, so here it's 10:56.760 --> 11:03.960 a small picture from a partner company that shows the inside of a quad, quad cutter, 11:04.520 --> 11:10.360 so there's a lot of rain and the autopilot is just this part, so we just manage this part, 11:10.360 --> 11:17.480 and all the rest is some of the company jobs to bring sensor and all jobs to be able to speak with all 11:18.440 --> 11:24.920 with speed or little, because I'm late, but what I would say is that it's a subset of the 11:24.920 --> 11:32.120 days to fit into a single micro controller, and unfortunately on walls, they don't have great 11:32.120 --> 11:40.120 interface from flying drone in general, wood dot drones, wood or robots, so we try to stick with the 11:40.120 --> 11:49.720 way you wrap this one, so if you're in about rows to support on our deployed, you just have a set 11:49.720 --> 11:56.120 of topic and message from base, but you need to implement your own topic, if you want something, 11:56.120 --> 12:00.760 because yeah, we don't know what everybody wants, and it can be too broad for us to support 12:02.200 --> 12:08.440 those agents on the wrong side, to be able to, yeah, understand the shrinking on version of 12:08.520 --> 12:14.200 DDS, so we've got another one shared, it's quite fast, you can have a 458 on your two picks, 12:14.200 --> 12:21.080 it got some of the disadvantages that is a subset of DDS, and it's some specific nodes on rows 12:21.080 --> 12:29.000 to works, but yeah, it's still it's working, and you can do slum with the other pilot I will show you later, 12:30.040 --> 12:36.600 simulation, we cannot do robotic wizard simulation, or this, you did some, some pool, 12:37.480 --> 12:41.480 previously, and some people said, yeah, a magnetic wizard simulation, you are crazy, 12:42.760 --> 12:49.080 so on our deployed, we got on a simulation engine, so it's a data drive on simulation 12:49.080 --> 12:56.200 engine, so basically we're simulating a set of sensor, so mostly all the sensor we are supporting 12:56.280 --> 13:03.560 us, are simulating, and we can use it to feed the real code of other pilots through the R, and 13:06.440 --> 13:11.560 yeah, so that's make real simulation, and you can debug your code easily, and so it's quite 13:11.560 --> 13:15.880 easy to run an other pilot simulation on single computer, you can even run like one of 13:15.880 --> 13:20.600 run simulation on your computer and do a swarm with other pilots, we just laptop, because as 13:20.600 --> 13:27.960 this way it's a much single micro controller on a CPU, it's like noticing, the main disadvantage on 13:27.960 --> 13:33.960 this is like on simulation on gen, don't have swinging environments, so you are in a little world, 13:33.960 --> 13:38.920 you are just simulating your drone, and you don't know what is happening on the other drone, 13:38.920 --> 13:43.160 and seeing like that there's no synchronization, but it's also on advantage because you can 13:43.160 --> 13:50.120 simulate first, you control your controller, and yeah, make some debugging, and as most 13:50.120 --> 13:57.000 simulates your engine, we've got too much parameters, so it can be hard for your commerce 13:57.000 --> 14:02.280 to understand how to simulate everything on other pilots, but there's not a problem, we've got 14:02.280 --> 14:09.800 also connection with Gazibu, and some of the simulators what you want, we've got an NZIPI to integrate 14:09.800 --> 14:18.440 other pilots with the simulation engine you want, if you support, yeah, AirBQ, and CVQ, 14:19.400 --> 14:25.800 and lastly, what I want to say about simulation, yeah, we can do simulation on hardware, 14:25.800 --> 14:30.680 so you can load the simulation on your micro controller, if you want to test some hardware 14:30.680 --> 14:35.560 and make like advanced simulation, like you make an automation, and you want to see your gimbal 14:35.560 --> 14:41.800 moving or drop payload or something like that, with your hardware, so you can connect to a computer, 14:41.800 --> 14:47.000 so this is working, and of course you can also, as the simulation is on Linux, 14:47.320 --> 14:53.480 you can plug real hardware on your computer and grab sensor and mess with the simulation with 14:53.480 --> 14:59.080 your real sensor, so it doesn't work with GPS for observation, but with one finder it's easy, 14:59.080 --> 15:04.600 it's easy to see if you pass correctly, you run finder and see the drone react to the distance, 15:04.600 --> 15:14.280 just run finder, see, so here's a small video of a simulation on Gazibu, so this is a simulation 15:14.280 --> 15:18.360 of two are the plot vehicles, so the bot is on the other pillars, so it's a big bot, 15:18.360 --> 15:26.680 don't do this, and we got, yeah, there's the end of the landing phase of a quad plane, 15:26.680 --> 15:33.320 so this project was to try and improve the tick off on the moving platform, that was a bot, 15:33.320 --> 15:39.720 with the tiles, on Gazibu, and tried to see all how the pillars was writing, and after we got 15:39.800 --> 15:47.320 the script in Lyua, that we run the route between the bot and the quad plane to make the landing 15:47.320 --> 15:53.400 sequence automatically, so there's no people involved in this control, everything is open, 15:53.400 --> 15:58.680 we got a blog post about this, and also called the simulation exists on other pillars, so you can 15:58.680 --> 16:07.800 grab it and play with it, as we rely a lot on our community to improve the project, 16:08.120 --> 16:14.680 we always try to apply to Google some of code to get some students, and teach them how to 16:14.680 --> 16:19.800 use out a pilot and how to help us to improve a pilot on some project, so some years ago we got 16:19.800 --> 16:24.840 some students, so yeah, it was two years ago, we got two students, that in Prove, was two supports, 16:24.840 --> 16:33.720 and especially enough to support, so there were some doing slam in 2D with a multicopter, 16:33.720 --> 16:39.160 and with the simulation site, so you got the results there, it's working quite well, 16:39.160 --> 16:43.720 and it's used DDS to do this, so it's working very well, and we got the simulation site that's 16:43.720 --> 16:49.560 working, everything is online again, so you can read the blog post and see how they do it, 16:49.560 --> 16:56.040 that we did it, and what was the struggle, because there was a lot of struggle on this, 16:56.040 --> 17:03.880 yeah, other pillars are with auto pillars, but we got a lot of other tools to make your vehicle 17:03.880 --> 17:11.800 move, so the one I want to speak as most is a paper for all, so one thing we see is that 17:11.800 --> 17:17.960 normally to connect a Samsung on two pillars, use some URL, some I2C, SPI, but it's quite short 17:17.960 --> 17:25.240 where wire and you can be jammed by big motor and powering system or signals at, so we develop 17:25.640 --> 17:32.200 a paper for all, that is a subset of our DPROT, with the DPROT part, so you can use all, all, 17:32.200 --> 17:38.680 all library we developed for the DPROT, especially the sensor grabbing and the protocol communication 17:38.680 --> 17:45.400 to make, for example, a GPS that works with Canvas, so you just buy a GPS with your art, 17:45.400 --> 17:52.680 you just a paper for all to get GPS part of the code, can the drone can support, and you can 17:52.680 --> 17:58.360 extend your range of GPS and put it a like swim meter from your torpedoes, so that's quite 17:58.360 --> 18:03.720 useful and easy, you don't have most anything to code, just grab the right library to do this, 18:04.920 --> 18:09.800 if you struggle with drone calibration, we got a new tool called methodic configurations that 18:09.800 --> 18:18.200 help you to get the most performance of your drone, so it grab, so it's a tiny guide and you can 18:18.200 --> 18:24.920 sunny, you can use it to grab the logs from your drone and improve the performance from the logs, 18:24.920 --> 18:34.200 so everything is, everything is semi-automated, so it's a good guide, a good guide line, 18:34.200 --> 18:39.720 and it's really simplifies the tuning meter for every vehicle you want to move with our DPROT, 18:41.160 --> 18:45.000 as I said, we are working on Linux, it's typically because to compile, if you don't like 18:45.000 --> 18:53.560 come online, we got a website to compile you out of the plot for you, so it's quite convenient 18:53.560 --> 18:58.440 and you can strip down out of the plot from some parts, for example, if you want worse too, 18:58.440 --> 19:03.240 you cannot put everything, every sensor support on out of the plot because it doesn't fit 19:03.240 --> 19:10.920 in a single microcontroller flash, so with this, you can get worse to support and get right 19:10.920 --> 19:16.520 off, you don't want to find out if you don't use them, or some version of GPS, some brown 19:16.520 --> 19:23.800 of GPS, and for those that likes data, we got some web tools to make nice analysis, nice 19:23.800 --> 19:35.480 graph on what is a really good new machine, what are we looking for, I'm plus a fish, so yeah, 19:35.480 --> 19:42.680 we're looking for some developments on CI because we are swinging with too much developments. 19:45.400 --> 19:50.600 And then, yeah, as a conclusion, my presentation was close to the end, and so we got a lot of 19:50.600 --> 19:56.840 place to discuss with us, to reach us, feel free to contribute if and if we don't, if you don't 19:56.840 --> 20:03.720 develop robots or vehicle, we need apps on a contribution on CI on documentation, and even 20:03.800 --> 20:09.160 cut the optimization, so, and that's all for me, thank you for listening. 20:16.520 --> 20:17.880 Hello, any questions? 20:23.960 --> 20:24.920 Now, everybody at once? 20:25.880 --> 20:37.960 Okay. I'm a complete outsider here, so there's been a lot of focus on robots in defense, 20:37.960 --> 20:43.160 do you notice anything inside say the open source community regarding that, do you see a 20:43.160 --> 20:47.160 shifting focus or requirements or technology advancements? 20:47.720 --> 20:54.920 Yeah, so for other people, it reports some years ago that we won't help, and we won't 20:54.920 --> 20:59.720 accept any contribution for weaponism systems, that's why I said it's clearly, 20:59.720 --> 21:05.560 especially on this time, and as a professional in robotic fields, and in one world, 21:05.560 --> 21:13.000 nowadays we got a lot of funding for weapon with one, and yeah, so it starts everybody, 21:13.000 --> 21:17.240 it takes to say I want to work some of this or not, but for the projects, 21:18.200 --> 21:22.440 we said we are not sure that we don't want weapon and that's all. 21:25.320 --> 21:31.800 So, I work on a company doing like autonomous planes like years back, and at the time, the like 21:31.800 --> 21:36.760 FAA and Yasa, like they weren't really making much progress on like safety certification, 21:37.320 --> 21:40.680 for these, do you know if there's been any progress on that recently towards like getting these 21:40.680 --> 21:48.440 sort of to fly in public areas? Yeah, so with other pilots, we know that you can't reach 21:48.440 --> 21:54.760 not the highest levels, but if you know so far, you can do like say, swing, abandonment with 21:54.760 --> 22:00.280 other pilots, so the project on the site is what we have, the binary we were providing 22:01.000 --> 22:06.920 of swing on the project is not enough to get some certification, but we know some, we 22:06.920 --> 22:12.680 work with a lot of company to get the best of our pilots and get what the regulator wants as 22:13.720 --> 22:19.000 paperwork, because it's mostly paperwork, and demonstration, so yeah, you can reach 22:20.680 --> 22:28.520 not the highest certificate flying vehicle stuff, but it's enough to do like all the drone tasks, 22:28.520 --> 22:34.200 small drone tasks, you want so, and that's absolutely why I insist on not only human is it, 22:34.280 --> 22:39.480 so don't choose our pilots for her taxi on things like that, it's not designed for this, 22:40.040 --> 22:46.280 we can't trust it for some drones, but to transport people over people, please don't do it. 22:46.760 --> 23:05.160 Yeah, hi, this might get a little technical, but I had a question on there's been the 23:05.160 --> 23:11.720 production of Intel T265 camera, the real sense, that's not been manufactured anymore, is any 23:11.720 --> 23:17.640 alternative for that for indoor localization for our do pilot based drones? 23:18.440 --> 23:26.040 Yeah, so if we look at the example of some previous research project we did, we got some part 23:26.040 --> 23:33.240 and some partnership with Luminex, that does all the camera-rancing as that, the steroid 23:33.240 --> 23:39.000 cameras to do slum, and everything is embedded in the camera is quite cheap, so yeah, we can 23:39.000 --> 23:44.520 use this with our pilots, but not directly on the micro controller, you need to go with another software, 23:44.520 --> 23:51.080 like Ross, another software to handle the steroid camera, and feed as your top pilot with 23:52.360 --> 23:58.040 eyes as a position of set position of, yeah, we got multiple entry, right, we can check on our 23:58.040 --> 24:04.360 weekly, we got full page with some photo disease and what we got as input, what you can use and 24:04.360 --> 24:10.920 input on your top pilots to move ways, yes, really can there are, also work enough, yeah, thank you