M2 Internship : Developing efficient ROS 1 and ROS 2 drivers for DJI RoboMaster series robots

Developing efficient ROS 1 and ROS 2 drivers for DJI RoboMaster series robots

Date limite de candidature : 18/12/2023
Date de début : 01/02/2024
Date de fin : 31/07/2024

Pôle : Automatique et systèmes
Type de poste : Stage
Contact : THAKKER Aarsh (aarsh.thakker@l2s.centralesupelec.fr)

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Internship title: Developing efficient ROS 1 and ROS 2 drivers for DJI RoboMaster series robots[1]

 

Supervisors:  Aarsh Thakker aarsh.thakker@l2s.centralesupelec.fr

Cristina Stoica cristina.stoica@l2s.centralesupelec.fr

 

Topic summary: Creating ROS 1 and ROS 2 compatible robot drivers for the DJI RoboMaster series robots and making use of multirobot operation capability with these robots.

Required skills: Robotics, Python (3), ROS 1, ROS 2, Linux, Bash, Git, notions of path planning and collision avoidance, Networking and Communication-protocols (optional), C++ (optional)

Aim: The aim of the internship is to develop a heterogeneous robot ecosystem with the RoboMaster series robots to make them able to work in the shared environment and transmit information whenever required using the capabilities of ROS.

 

DJI ROBOMASTER S1 [1]                          DJI ROBOMASTER TT [1]

 

Internship description: The DJI RoboMaster series [1] are widely used in educational content such as encouraging teens and kids at school [2] to discover the fields of Robotics, Control System, and Artificial Intelligence. Due to their durability, stability and programming facilities, these robots and drones are suitable for Control System and multi-robot courses for engineering students. The motion tracking system [3] available in the flight arena of CentraleSupélec is capable to work flawlessly with ROS. There are already several drivers available [4,5,6,7]; however, either they are warper over RoboMaster SDK [8,9] and they are not convenient for multi-robot connection. The goal of this internship consists in software development for the RoboMaster series allowing multi-robot operation. Several case studies along with path planning and collision avoidance algorithms will be implemented in order to test the proposed driver.

The development is on the software side. The hardware is already available in the laboratory. The internship will start by understanding the RoboMaster SDK, familiarizing with the available hardware, and basic software architecture for ROS 1 and ROS 2 compatibility with the minimal efforts.

 

Place of work                        L2S, CentraleSupélec, Université Paris-Saclay

Address                                 3 rue Joliot Curie, 91190 Gif-sur-Yvette, France

Contact                                  Aarsh Thakker aarsh.thakker@l2s.centralesupelec.fr

Submission                                     https://limesurvey.centralesupelec.fr/index.php/369323?lang=en

 

General Information            4 to 6 months internship (Master level) starting from February 2024

Deadline                                           18 December 2023

 

References:

[1] https://www.dji.com/fr/products/steam?site=brandsite&from=nav

[2] C. Stoica, S. Bertrand, A. Thakker, T. Chevet, J. Gombert, Y. Ngnie-Tekou, J. Godoy, J. Bourgeois, “(Re)CreativeRobot: Popularizing Workshop to Promote Control and Mobile Robotics for Kids”, 27th International Conference on System Theory, Control and Computing, October 11-13, 2023, Timisoara, Romania, 2023.

[3] https://github.com/L2S-lab/natnet_ros_cpp

[4] https://jeguzzi.github.io/robomaster_ros/introduction.html

[5] https://github.com/jukindle/robomaster_ros

[6] https://github.com/tianbot/rmtt_ros

[7] https://github.com/RoboMaster/RoboRTS-Base

[8] https://github.com/dji-sdk/RoboMaster-SDK

[9] https://robomaster-dev.readthedocs.io/en/latest/introduction.html

 

[1] This internship is rather software development-based than the research-based.