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https://github.com/ifurusato/mros

Operating System for the MR01 Mars Rover
https://github.com/ifurusato/mros

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Operating System for the MR01 Mars Rover

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README 

        
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MROS: Operating System for the MR01 Mars Rover

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**MROS** provides the core functionality of the *MR01 Mars Rover*, a Raspberry

Pi-based robot OS written in Python 3.



.. figure:: https://service.robots.org.nz/wiki/attach/MR01/MR01-2024-05-18.png

   :width: 560px

   :align: center

   :height: 450px

   :alt: The MR01 Robot (Phase 1)



   A 3D model of the MR01 Robot.



|



The *MROS* library provides essential support designed as the basis of a

`Behaviour-Based Systems (BBS) `_.

This library is relatively "low-level" and, in theory, could be used for any Python 3 

based robot.



The basic function is for sensors to act as "Publishers" in a "Publish-Subscribe" model,

firing event-laden messages onto an asynchronous message bus. Subscribers to the bus can

filter which event types they are interested in. The flow of messages are thus filtered

through the Subscribers, who pass on to an Arbitrator messages they have consumed. Once all

Subscribers have acknowledged a message it is passed to a Garbage Collector (a specialised

Subscriber).



Each event type has a fixed priority. The Arbitrator receives this flow of events and

passes along to a Controller the highest priority event for a given clock cycle (typically

50ms/20Hz). The Controller takes the highest priority event and for that clock cycle

initiates any Behaviours registered for that event type.



For example, a Subscriber that filters on bumper events receives a message whose event

type is Event.BUMPER_PORT (the left/port side bumper has been triggered). This Subscriber

passes the Payload of its Message to the Arbitrator. Since a bumper press is a relatively

high priority event it's likely that it will be the highest priority and is therefore

passed on to the Controller.  If an avoidance Behaviour — let's call it AVOID_PORT

— has been registered with the Controller, it is called and the robot will begin

whatever the AvoidPort behaviour entails, perhaps stopping, backing up while turning

clockwise, then proceeding forward again on a new trajectory.



Features

********



* message and event handling

* an asynchronous message bus that forms the basis of a `Subsumption Architecture `_ [#f1]_, with an "exactly-once' message delivery guarantee

* YAML-based configuration

* timestamped, multi-level, colorised [#f2]_ logging

* written in Python 3



.. [#f1] Uses finite state machines, an asynchronous message bus, an arbitrator and controller for task prioritisation.

.. [#f2] Colorised console output tested only on Unix/Linux operating systems.



Requirements

************



This library requires Python 3.8.5 or newer. Some portions (modules) of the KROS

code will only run on a Raspberry Pi, though KROS Core should function

independently of the various Pi libraries.



KROS requires installation of a number of dependencies (support libraries),

which should be automatically installed via pip3 when you installed kros-core::



Status

******



Early days. The Phase 0 hardware is largely complete and migration and conversion

of the `KROS-Core `_ is being used

as the basis of MROS.



.. note::



   This project is currently in a very preliminary state.



   The project is being exposed publicly so that those interested can follow its progress.



Support & Liability

*******************



This project comes with no promise of support or acceptance of liability. Use at

your own risk.



Copyright & License

*******************



All contents (including software, documentation and images) Copyright 2020-2024

by Murray Altheim. All rights reserved.



Software and documentation are distributed under the MIT License, see LICENSE

file included with project.