Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Bridge for Exchange of Data and Service Invocation Between OPRoS and ROS

OPRoS-ROS간 데이터 교환 및 서비스 호출을 위한 브리지

  • Lee, Ki Woon (Division of Electrical and Electronic Engineering, Kangwon National University) ;
  • Park, Hong Seong (Division of Electrical and Electronic Engineering, Kangwon National University)
  • 이기원 (강원대학교 전기전자공학부) ;
  • 박홍성 (강원대학교 전기전자공학부)
  • Received : 2015.11.12
  • Accepted : 2016.01.05
  • Published : 2016.02.01
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Abstract

This paper proposes a bridge model for data exchange and service invocation between OPRoS and ROS platforms, shows the validity of the proposed model via applications, and compares the proposed model with the OPRoS platform and the ROS platform using performance measures such as data exchange time and service response time. The proposed model operates independently of OPRoS and ROS Platforms using its configuration file with mapping information among the OPRoS data/service port and the ROS topic/service. The configuration file makes easy connections between OPRoS data/service and ROS topic/service without changing the source code of the platform and components.

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References

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