After logging into Seirios RNS, you will see the Dashboard first
The dashboard is the first page that you see after logging in. After mapping, saving and loading a map, it will be visualised here;
Speed controls, analog/keyboard control and toggle, and mode-dependent buttons will be displayed in this panel. This panel can be toggled to be hidden or shown too.
Depending on the mode selected, action buttons will change
Note that E-stop will disconnect power to the motors and will render the robot immovable. To abort/clear tasks in the queue, choose Clear tasks instead
Tasks
Single event tasks are tasks that can be executed with one click
There are only two types of tasks in Seirios RNS;
Trail : where robot will follow the generated lines closely (will not deviate outside). When faced with obstacles, robot will stop until obstacles are removed.
Waypoints: where robot will not follow the lines and obstacles will be dynamically avoided (unless setting is toggled to stop-at-obstacle)
Core
Seirios RNS' core features
The following features are bundled with the following features.
Please refer to the respective features' page for additional details, images and information by referring to the menu on the left or by clicking the hyperlinks below.
Teleoperation
Under this category, users can manually drive their robots
Drive - to manually drive the robot with the onboard controls (keyboard or analog)
Granular controls are automatically applied; similar to a car's gas pedal/accelerator, users can granularly control the speed based on the set (0.1 - 0.9 m/s) limit with the joystick.
Localiser
Due to various factors, like localisation drifts, it's important to adjust the localisation manually with the localiser
From the mode switcher, select the Localise button and click Start
Once the laser scan is aligned properly, click save to localise
In this mode, users are required to Mark each point and a line will be generated between points.
Lines will be generated between marked points
Mark Trail
Similar to Teleop Trail, instead of moving the robot to mark, use the on-screen marker to drop points. Lines will be generated automatically.
The orientation is automatically defined after your next point is marked. Otherwise, use the WASD or analog controls to change the orientation
Zone
The Zone feature can automatically generate points (trail style) in a specified area.
Robot will execute generated points in trail style - obstacles will not be avoided and will follow exactly the line that is generated
You will require a minimum of 3 points to save a zone
The generated zone will look like this, where points will be generated close to each other;
Waypoints
Waypoints are similar to Mark Trail where the only difference is that the robot does not follow the generated line closely. Obstacles will be avoided as the robot navigates in its environment.
If you are only marking one point, change the orientation of the pose with either your keyboard or the analog controls
Trails and Waypoints are Single event tasks
Higher speeds beyond 0.9m/s are possible however are not enabled by default - only upon request.
Granular speed controls
For omnidirectional robots, steering can be controlled with Shift keys as shown below. The keys will move the robot on the X axis/plane (sideways)
Use either the analog controller or WASD keys to align the green laser scan to the map's walls and environment
Stations
Create multiple stations for either to dock for charging, or for other purposes
Users can create one or more (no limit) stations for a specific map to dock to - for charging or for other tasks (such as picking of objects with a robotic arm payload)
Creating stations
Users are required to drive the robot manually in the map (in the interest of accuracy and precision) and upon reaching the point of interest, capture the pose and store it as a station
For docking, ensure that the QR code is visible to the robot before saving it as a station
Queueing saved stations
After station(s) are created, queue them together with other tasks to build an autonomous robotic process in your environment.
Besides charging, stations can be used to mark points of interest so robot(s) can dock to, with precision
Please refer to the on how to integrate your own docking code
Task Manager
For autonomous operations, use the Task Manager to queue different tasks together and introduce different elements such as Delays and Stations
From the top left corner, click the hamburger menu button to expand the options and click on Task Manager. You will be presented with two options, Tasklist and Scheduler.
These two options share many similarities but Scheduler introduces the element of time on top of queued tasks.
Mapping
Seirios RNS supports multiple mapping algorithms. Jump to the algorithm of interest here on the right panel (desktop view only) ➡️
Please be informed that all mapping modes (except 2D mapping) are disabled by default as they require special hardware configurations. These include Automatic mapping, 3D mapping, RTAB mapping and
Queueing Tasks
From here, select Tasks (Path, Goal, Zone, Station, Custom or Delay) to create a list of tasks that can be run with a single click.
After saving the list, your tasks can be previewed as shown below
From here, run your Tasks now by clicking 'Run Now' or put this Tasklist into the queue with 'Add to Queue' at the bottom of the screen
Scheduling Tasks
To schedule these tasks to run at a later date/time, edit the task (by clicking the pencil icon) and input the date and time details
You can also save these scheduled tasklists as Active or Inactive
State Machines
Seirios supports integration with state machines. is tried and tested to be compatible with Seirios and it includes an editor with which you can create your own conditions;
ORB-SLAM mapping
and are indicated with flags 🚩 below
2D Mapping
The most commonly used mapping algorithm, the cameras mounted on robots populate and generate a map of its surroundings
Users can manually teleoperate the robot, to 'reveal' the map represented by white areas in the map
Auto Mapping 🚩
Incorporating this feature into Seirios allows users to automatically map large areas without manually driving with virtual controls. The auto-mapping feature was originally developed for a wall-scanning construction project
Automatic mapping without manual controls from users
Map does not save automatically once mapping is done. Click 'Stop' to prompt the 'save map' model
3D Mapping 🚩
3D mapping requires a 3D LiDAR and a capable CPU (Intel/AMD x86 recommended)
For higher accuracy, range and better visual representation of environmental features, users can opt to map in 3D. A 2D map will be generated from a 3D map too
RTAB-MAP 🚩
RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D, Stereo and Lidar Graph-Based SLAM approach based on an incremental appearance-based loop closure detector.
As its namesake, it uses real time images to map the environment
ORB-SLAM Camera Based Mapping 🚩
ORB-SLAM is a keyframe and feature-based Monocular SLAM. It operates in real-time in large environments, being able to close loops and perform camera relocalisation from very different viewpoints.
Seirios is able to support mapping with the use of monocular, stereo, and RGB-D cameras. Green 'dots' are features recognised and stored in the map data, generating a 2D map
Substitutable with similar cameras with depth sensing capabilities
