CloudSim - Open Robotics...Senior software engineer Carlos Aguero Senior software engineer Brian...
Transcript of CloudSim - Open Robotics...Senior software engineer Carlos Aguero Senior software engineer Brian...
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CloudSim
May 8th, 2013Hugo Boyer, Carlos Aguero, Brian Gerkey
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Table of Contents
IntroductionMotivation: DARPA Robotics ChallengeEvolutionStatusLimitationsBenefitsFuture possibilitiesConclusion
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Introduction
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Introduction
OSRFTo support the development, distribution, and adoption of open source software for use in robotics research, education, and product development.
Hugo BoyerSenior software engineer
Carlos AgueroSenior software engineer
Brian GerkeyChief executive officer
Steffi PaepckeUX
Brant RevillWeb
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Introduction
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Introduction
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Introduction
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Introduction
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DARPA Robotics Challenge
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Disaster
Response
DARPA Robotics Challenge
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DARPA Robotics Challenge
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DARPA Robotics Challenge
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DARPA Robotics ChallengeMap-reduce the best robotics teams in the world
Map: simulated arenas vs• Operator skills• Cutting edge software
Reduce: best score of• Time• Task completion• Bandwidth utilization
15 tasks, 3 days.
theroboticschallenge.org
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CloudSim: design and overview
Configuration• Network routes• Software, simulation configurations• Security
Private instant network
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Evolution
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CloudSim evolution
September 2012 (2012-09)
Brian's prototype:- Amazon gpu machine- OpenID authentication- Python thread that bring up a machine, setup ROS, X and Gazebo
December 2012
Version 1.0- New front end- push notifications (polling)- REST API- Redis backend
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CloudSim evolution
February 2013
Constellations- chaining VPNs does not scale- virtual lans (AWS VPC)- Constellation plugin (single thread):
- launch, terminate- start task, stop task
Development slows down- 20 min
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February 2013
CloudSim evolution
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CloudSim evolutionIssues:- not getting full 10 gbs bandwidth- some strange behavior - capacity- jitter
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CloudSim evolution
SoftLayer
Prosup to date performance
NVIDIA K10 processor2x Intel Xeon-SandyBridge E5-2690-OctoCore [2.9GHz] CPU
no hypervisor single tenancy
Consmonthly instead of hourlyinflexible network topology and FW1h provisioning [with bugs]
.
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Status
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Status
CloudSim architecture• Thin web client• Web server to process requests• Daemon to launch cloud machines• Simulation machines
CloudSim, Simulator and Web Client machines
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Limitations
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Latency• Some extra ms. are required to reach the machines on the cloud• The latency is not fixed and depends on the geographic location of user/provider
Cost• Pay on demand
Amazon $2.10/hSoftLayer $1200.00/month
• Are we ready to pay for CPU cycles?
Small range of GPU-based providers• A wider selection of providers would reduce costs• Mitigated by demand for game streaming
Limitations
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Benefits
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CloudSim benefits
ROS in a box • curated selection of:
hardwaresoftware (Groovy Precise Gazebo)networking and routingrobotics (controllers, sensors)simulation worlds
Concurrent by design• 1 or 100 machines, same time• Open and extensible
Low barrier to entry• Thin client• Platform for sharing
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Future possibilities
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Future possibilities
Research and industrial• Store of simulation experiments• [Automatic] [parallel] Testing• Design optimization
Education• Competition in the classroom• Share simulations, data, benchmarks
Other future lines• Launch other open source robotics software• Connect to data sets
Expansion• Deploy to real robots
Dream big
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Conclusion
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Conclusion
Motivated by specific requirements of the DARPA Robotics ChallengeContribute to the success of GazeboEnables new workflows in robotics simulationsMakes ROS and Gazebo more accessibleOpen Source, BSD license
CloudSim could be to be to ROS/Gazebo what Android is to Linux
http://gazebosim.org/wiki/CloudSim