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http://dx.doi.org/10.7746/jkros.2020.15.4.375

SW Development for Easy Integration of Robot System Composed of Heterogeneous Control Platforms into ROS-based System  

Kang, Hyeong Seok (MINTROBOT Co., Ltd.)
Lee, Dong Won (MINTROBOT Co., Ltd.)
Shin, Dong Hun (Mechanical and Information Engineering, University of Seoul)
Publication Information
The Journal of Korea Robotics Society / v.15, no.4, 2020 , pp. 375-384 More about this Journal
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.
Keywords
ROS; Node; Framework; Protocol; TCP/IP;
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