The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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SW Development for Easy Integration of Robot System Composed of Heterogeneous Control Platforms into ROS-based System

이종의 제어 플랫폼들로 구성된 로봇 시스템을 ROS 기반의 시스템으로 손쉽게 통합하기 위한 소프트웨어의 개발

  • Received : 2020.06.12
  • Accepted : 2020.09.16
  • Published : 2020.11.30
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Abstract

Today's robots consist of many hardware and software subsystems, depending on the functions needed for specific tasks. Integration of subsystems can require a great deal of effort, as both the communication method and protocol of the subsystem can vary. This paper proposes an expandable robotic system in which all subsystems are integrated under Robot Operation System (ROS) framework. To achieve this, the paper presents a software library, ROS_M, developed to implement the TCP/IP-based ROS communication protocol in different control environments such as MCU and RT kernel based embedded system. Then, all the subsystem including hardware can use ROS protocol consistently for communication, which makes adding new software or hardware subsystems to the robotic system easier. A latency measurement experiment reveals that the system built for loop control can be used in a soft real-time environment. Finally, an expandable mobile manipulator robot is introduced as an application of the proposed system. This robot consists of four subsystems that operate in different control environments.

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References

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