Open Source Garden/Generic Autonomous Robot (Python library)
OSGAR is a lightweight, multi-platform library for recording and replaying data from multiple nodes (modules such as sensors, robots, and applications) logged into a single file. It is designed to be minimalistic, modular, and robust, capable of running on everything from high-end workstations to low-end devices like the Raspberry Pi Zero.
OSGAR was originally developed by robotika.cz and has been successfully deployed in several international robotics challenges.
- Robust Logging: All port data is logged with microsecond-resolution timestamps into a single
.logfile. - Deterministic Replay: Replaying recorded data produces identical outputs, enabling reliable debugging of complex sensor interactions and algorithms in a controlled environment.
- Modular Architecture: Robots are built as a set of independent modules connected via a communication "bus," defined in a simple JSON configuration.
- Minimalistic & Multi-platform: Written in Python, with minimal dependencies, ensuring it runs on various operating systems and hardware.
OSGAR has been the core software framework for a variety of robotic platforms and prestigious competitions:
Team Robotika used OSGAR to coordinate a heterogeneous fleet of robots (wheeled, tracked, and flying) to map and search complex underground environments.
OSGAR powers a fleet of Matty robots (M01-M05) equipped with non-contact sensors to detect physiological signs in casualties during mass-casualty incidents.
OSGAR-based robots, including the "Matty twins," have successfully competed in the Field Robot Event, an international competition for autonomous robots in agriculture.
For more detailed information, please refer to:
Robot is set of modules. Every module has input and output ports, described
together with the connections in the config file. All ports are logged with
timestamp (microsecond resolution). The module is typically an instance of a
driver, whose init arguments are also in config file.
The current development code is under osgar directory.
If you are using OSGAR directly from sources please make sure that
you setup PYTHONPATH to the root of this project.
The example configurations are stored in config folder. JSON files are
used.
There is a osgar/record.py to run data collection based on given configuration file. If you would like to collect GPS data available on serial port use modified version of test-windows-gps.json for Windows or test-gps-imu.json for Linux.
python -m osgar.record config/test-windows-gps.json
To replay existing log use:
python -m osgar.replay --module <module name> <log file name>