Information about NeuroroboticsPlatform (NRP) [Ticket#488289]
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Dear Simone,
No, Raspberry Pi is not supported. The computational requirements of the NRP are too steep for a Raspberry Pi.
In any case, the suggested architecture for this use case is to connect a ROS-enabled robot (Raspberry Pi is supported by ROS), via a local network (e.g. via WiFi) to the ROS network managed by the NRP that is running a workstation. That entails configuring the robot to use the NRP’s ROS master node (see docs here). Once on the same network, the TFs will be able to communicate with the robot as if it were simulated in gazebo. In fact the communication mechanisms (i.e. ROS topics ) would be exactly the same.
Yes. It is possible to configure the NRP so to use a ROS-enabled robot instead of a gazebo-simulated one. Brain simulation and TFs will be run in sync as usual, while the physical robot will communicate with the CLE (hence, with the TFs) via ROS Topics (as in the simulated cased, modulo synchronization). In the case of the robot’s topics name used in TFs being the same in both the simulated and the real robot, the TFs works without any modification.
In order to configure the simulation in such a way, it’s enough to add the element
<mode>SynchronousRobotRosNest</mode>
to your experiment’s BIBI file. This will prevent the loading of the robot, specified in the experiment configuration file, in the simulated scene. Since gazebo has to be run even if no physical simulation would be required, it is recommended to use an empty environment so to save on physical simulation time.
I hope it helps, in case you have more questions don’t hesitate to ask.
Regards,
Ugo Albanese
This is a ticket forwarded from support.humanbrainproject.eu
https://support.humanbrainproject.eu/#ticket/zoom/8295
From : simone.coppolino@ibf.cnr.it
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Dear NRP,
I'm Simone Coppolino, a researcher from Biophysics institute of CNR
Italy (working in M. Migliore group). I would like to import my projects
inside a physical robot, and I have some questions.
1) Is it possible to install the NRP inside a Raspberry Pi 3b+? The
Raspberry Pi already has UBUNTU 16.04 installed but in the official site
i don't see any guide for the source install on Raspberry PI.
2) Is it possible to connect a physical robot to the NRP? For example,
is possible to take the input from a camera (installed into a physical
robot) and use it in a transfer function?
Thanks for the attention.
Best Regards,
Simone.
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