Connecting ROS to a real-time control framework for embedded computing

M.M. Bezemer, Johannes F. Broenink

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)
    2 Downloads (Pure)

    Abstract

    Modern robotic systems tend to get more complex sensors at their disposal, resulting in complex algorithms to process their data. For example, camera images are being used map their environment and plan their route. On the other hand, the robotic systems are becoming mobile more often and need to be as energy-efficient as possible; quadcopters are an example of this. These two trends interfere with each other: Data-intensive, complex algorithms require a lot of processing power, which is in general not energy-friendly nor mobile-friendly. In this paper, we describe how to move the complex algorithms to a computing platform that is not part of the mobile part of the setup, i.e. to offload the processing part to a base station. We use the ROS framework for this, as ROS provides a lot of existing computation solutions. On the mobile part of the system, our hard real-time execution framework, called LUNA, is used, to make it possible to run the loop controllers on it. The design of a ‘bridge node’ is explained, which is used to connect the LUNA framework to ROS. The main issue to tackle is to subscribe to an arbitrary ROS topic at run-time, instead of defining the ROS topics at compile-time. Furthermore, it is shown that this principle is working and the requirements of network bandwidth are discussed.
    Original languageUndefined
    Title of host publicationProceedings 2015 IEEE 20th Conference on Emerging Technologies and Factory Automation (ETFA)
    Place of PublicationLuxembourg
    PublisherIEEE IE society
    Pages1-6
    Number of pages6
    ISBN (Print)978-1-4673-7929-8
    DOIs
    Publication statusPublished - 8 Sep 2015
    Event20th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2015 - Luxembourg, Luxembourg
    Duration: 8 Sep 201511 Sep 2015
    Conference number: 20
    http://www.etfa2015.org/

    Publication series

    Name
    PublisherIEEE

    Conference

    Conference20th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2015
    Abbreviated titleETFA
    CountryLuxembourg
    CityLuxembourg
    Period8/09/1511/09/15
    Internet address

    Keywords

    • EWI-26610
    • METIS-315113
    • IR-98841
    • ROS embedded control systems

    Cite this

    Bezemer, M. M., & Broenink, J. F. (2015). Connecting ROS to a real-time control framework for embedded computing. In Proceedings 2015 IEEE 20th Conference on Emerging Technologies and Factory Automation (ETFA) (pp. 1-6). Luxembourg: IEEE IE society. https://doi.org/10.1109/ETFA.2015.7301648