Abstract
This chapter introduces the open-source software VIKI. VIKI is a software package that eases the configuration of complex robotic systems and behavior by providing an easy way to collect existing ROS packages and nodes into modules that provide coherent functionalities. This abstraction layer allows users to develop behaviors in the form of a collection of interconnected modules. A GUI allows the user to develop ROS-based software architectures by simple drag-and-drop of VIKI modules, thus providing a visual overview of the setup as well as ease of reconfiguration. When a setup has been created, VIKI generates a roslaunch file by using the information of this configuration, as well as the information from the module definitions, which is then launched automatically. Distributed capabilities are also guaranteed as VIKI enables the explicit configuration of roslaunch features in its interface. In order to show the potential of VIKI, the chapter is organised in the form of a tutorial which provides a technical overview of the software, installation instructions as well as three use-cases with increased difficulty. VIKI functions alongside your ROS installation, and only uses ROS as a runtime dependency.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
This configuration is based on version 0.2-Alice, released on 9 May 2016.
- 2.
Installation instructions might change in future releases. For the most recent installation instructions on VIKI, read the instructions located in the github repository.
- 3.
Note that ROS versions do not need to be the same, however VIKI is follows the ROS updates and this might change in the future.
- 4.
Note that VIKI is still under strong development after the first release. Some of the advanced ROS tools, such as the multi-master, could not be yet fully integrated at the moment of reading this chapter. For an update on the current status of the installation, the interested user may refer to the online documentation.
- 5.
At the moment of writing of this chapter.
References
Quigley, Morgan et al. 2009. ROS: an open-source Robot Operating System. In ICRA Workshop on Open Source Software.
Muellers, Filip. 2012. rxDeveloper 1.3b with sourcecode generators. http://www.ros.org/news/2012/04/rxdeveloper-13b-with-sourcecode-generators.html (visited on 17 April 2016).
BRIDE. BRICS Integrated Developement Environment. 2014. http://www.best-of-robotics.org/bride/.
Fraunhofer FKIE. Node Manager FKIE. 2016. https://fkie.github.io/multimaster_fkie/node_manager.html (visited on 13 May 2016).
Robotnik. ROS graphic user interfaces. 2013. http://www.robotnik.eu/ros-graphic-user-interfaces/ (visited on 17 April 2016).
Price, John H. Creating a Graphical user Interface for Joint Position Control in Controlit! https://robotcontrolit.com/documentation/gui_jpos (visited on 17 April 2016).
Stumm, Elena. 2010. ROS/Web based Grahical User Interface for the sFly Project. Semester-Thesis. ETH Zurich. http://students.asl.ethz.ch/upl_pdf/289-report.pdf?aslsid=c472f08de49967cf2e11840561d8175a.
Willow Garage. ROS GUI. 2012. http://www.willowgarage.com/blog/2012/10/21/ros-gui (visited on 17 April 2016).
Kaestner, Ralf. 2016. Plugins Related to ROS TF Frames. https://github.com/ethz-asl/ros-tf-plugins (visited on 17 April 2016).
James (Techsource Systems). ROS GUI. 2015. https://de.mathworks.com/matlabcentral/fileexchange/50640-ros-gui (visited on 17 April 2016).
Linkbot. Linkbot Labs. 2016. http://www.barobo.com/downloads/ (visited on 17 April 2016).
Hoogervorst, Robin, Alex Kamphuis, and Cees Trouwborst. VIKI documentation. 2016. http://viki.readthedocs.io (visited on 09 Sep 2016).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this chapter
Cite this chapter
Hoogervorst, R., Trouwborst, C., Kamphuis, A., Fumagalli, M. (2017). VIKI—More Than a GUI for ROS. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 707. Springer, Cham. https://doi.org/10.1007/978-3-319-54927-9_19
Download citation
DOI: https://doi.org/10.1007/978-3-319-54927-9_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-54926-2
Online ISBN: 978-3-319-54927-9
eBook Packages: EngineeringEngineering (R0)