OSGAR Documentation

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.

Key Features

• Robust Logging: All port data is logged with microsecond-resolution timestamps.

• Deterministic Replay: Replaying recorded data produces identical outputs, enabling reliable debugging.

• Modular Architecture: Robots are built as a set of independent modules connected via a communication “bus”.

• Minimalistic & Multi-platform: Runs on everything from high-end workstations to the Raspberry Pi Zero.

Applications & Robots

OSGAR has been the core software framework for several prestigious competitions:

• DARPA Subterranean Challenge (SubT): Coordinating heterogeneous robot fleets in underground environments.

• DARPA Triage Challenge (DTC): Autonomous medical assessment using a fleet of Matty robots.

• Field Robot Event: Autonomous agricultural robots in challenging outdoor environments.

Contents:

• MyRobot Tutorial
  • The Robot Driver - myrobot.py
  • The Application - myapp.py
  • The Configuration - myrobot.json
  • Running the Example
• Logging
  • Motivation
• Robot Eduro
• Drivers
  • Logging
  • Use cases
• ROS Proxy
• CAN Bus Bridge
  • Communication Protocol
• Message Types
  • Note about scaling
• Glossary

Indices and tables

• Index

• Module Index

• Search Page