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http://dx.doi.org/10.7746/jkros.2021.16.4.327

Development of ROS2-on-Yocto-based Thin Client Robot for Cloud Robotics  

Kim, Yunsung (LG Electronics)
Lee, Dongoen (LG Electronics)
Jeong, Seonghoon (LG Electronics)
Moon, Hyeongil (LG Electronics)
Yu, Changseung (LG Electronics)
Lee, Kangyoung (LG Electronics)
Choi, Juneyoul (LG Electronics)
Kim, Youngjae (LG Electronics)
Publication Information
The Journal of Korea Robotics Society / v.16, no.4, 2021 , pp. 327-335 More about this Journal
Abstract
In this paper, we propose an embedded robot system based on "ROS2 on Yocto" that can support various robots. We developed a lightweight OS based on the Yocto Project as a next-generation robot platform targeting cloud robotics. Yocto Project was adopted for portability and scalability in both software and hardware, and ROS2 was adopted and optimized considering a low specification embedded hardware system. We developed SLAM, navigation, path planning, and motion for the proposed robot system validation. For verification of software packages, we applied it to home cleaning robot and indoor delivery robot that were already commercialized by LG Electronics and verified they can do autonomous driving, obstacle recognition, and avoidance driving. Memory usage and network I/O have been improved by applying the binary launch method based on shell and mmap application as opposed to the conventional Python method. Finally, we verified the possibility of mass production and commercialization of the proposed system through performance evaluation from CPU and memory perspective.
Keywords
Yocto; ROS; ROS2; Cleaning Robot; Delivery Robot; SLAM; Navigation; Autonomous Driving;
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