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Arquitectura de comunicaciones de tiempo real para robots modulares basados en ROS
Abstract
Actualmente, las plataformas para robots que implementan ROS son ampliamente usadas en investigación. Éstas han probado ofrecer una solución fiable para reutilizar algoritmos. No obstante, estos cuentan con ciertos inconvenientes. Aunque la arquitectura ROS ha sido diseñada con la posibilidad de trabajar de forma distribuida, este diseño presenta algunos problemas al gestionar un gran número de dispositivos los cuales requieren de un flujo de datos en tiempo real. En este trabajo se presenta una arquitectura de comunicaciones para solucionar este problema. Además se valida dicha arquitectura por medio de un robot modular a partir de dispositivos totalmente desacoplados. Un robot modular puede presentarse como un Sistema de Control Distribuido (DCS, por sus iniciales en inglés), donde las tasas de transmisión y el flujo de datos debe ser acotado para poder garantizar una correcta ejecución. Por lo tanto, se detalla como solucionar el problema de comunicación distribuida entre nodos ROS posibilita el intercambio de datos de forma fácil y segura. Como consecuencia se propicia el desarrollo de sistemas modulares basados en ROS. Por último se realiza una comparación entre el desempeño del sistema obtenido cuando se implementa una distribución ROS clásica, y el obtenido cuando se utiliza la arquitectura de comunicaciones propuesta.
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The inclusion of embedded sensors into a networked system provides useful information for many applications. A Distributed Control System (DCS) is one of the clearest examples where processing and communications are constrained by the client's requirements and the capacity of the system. An embedded sensor with advanced processing and communications capabilities supplies high level information, abstracting from the data acquisition process and objects recognition mechanisms. The implementation of an embedded sensor/actuator as a Smart Resource permits clients to access sensor information through distributed network services. Smart resources can offer sensor services as well as computing, communications and peripheral access by implementing a self-aware based adaptation mechanism which adapts the execution profile to the context. On the other hand, information integrity must be ensured when computing processes are dynamically adapted. Therefore, the processing must be adapted to perform tasks in a certain lapse of time but always ensuring a minimum process quality. In the same way, communications must try to reduce the data traffic without excluding relevant information. The main objective of the paper is to present a dynamic configuration mechanism to adapt the sensor processing and communication to the client's requirements in the DCS. This paper describes an implementation of a smart resource based on a Red, Green, Blue, and Depth (RGBD) sensor in order to test the dynamic configuration mechanism presented.
The usage of robots as smart objects becomes a new challenge for research and industrial teams. In this paper, we introduce an architecture of services using and integrating robotic objects. On one hand this architecture allows integrating robotic capabilities into more complex scenarios using other sensors/actuators. On the other hand, robot objects could use our architecture to solve remote problems such as object recognition, map sharing. Heterogeneous services and capabilities could be dynamically used and integrated. The architecture has already been implemented. Global scenarios of usage have been developed illustrating our approach.
Autonomous robots are complex systems that require the interaction between numerous heterogeneous
components (software and hardware). Because of the increase in complexity of robotic
applications and the diverse range of hardware, robotic middleware is designed to manage the
complexity and heterogeneity of the hardware and applications, promote the integration of new
technologies, simplify software design, hide the complexity of low-level communication and the
sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure
across multiple research efforts, and to reduce production costs. This paper presents a literature
survey and attribute-based bibliography of the current state of the art in robotic middleware design.
The main aim of the survey is to assist robotic middleware researchers in evaluating the
strengths and weaknesses of current approaches and their appropriateness for their applications.
Furthermore, we provide a comprehensive set of appropriate bibliographic references that are classified
based on middleware attributes.
Well adapted to the loosely coupled nature of distributed interaction in large-scale applications, the publish/subscribe communication paradigm has recently received increasing attention. With systems based on the publish/subscribe interaction scheme, subscribers register their interest in an event, or a pattern of events, and are subsequently asynchronously notified of events generated by publishers. Many variants of the paradigm have recently been proposed, each variant being specifically adapted to some given application or network model. This paper factors out the common denominator underlying these variants: full decoupling of the communicating entities in time, space, and synchronization. We use these three decoupling dimensions to better identify commonalities and divergences with traditional interaction paradigms. The many variations on the theme of publish/subscribe are classified and synthesized. In particular, their respective benefits and shortcomings are discussed both in terms of interfaces and implementations.
The OMG data-distribution service (DDS) is an emerging specification for publish-subscribe data-distribution systems. The purpose of the specification is to provide a common application-level interface that clearly defines the data-distribution service. The specification describes the service using UML, thus providing a platform-independent model that can then be mapped into a variety of concrete platforms and programming languages. The OMG DDS attempts to unify the common practice of several existing implementations [(M. Boasson et al., July 1993), (Pardo-Castellote et al., 1999] enumerating and providing formal definitions for the QoS (quality of service) settings used to configure the service. This paper introduces the OMG DDS specification, and describes the main aspects of the model.
This paper presents a communication framework developed for interconnecting multi-systems based on the Data Distribution Service (DDS). The newly built framework, called ANIMO, facilitates the integration of DDS in an application and the interoperability between the different data types of the Cooperating Objects (COs) with the great feature of real-time. Furthermore, a powerful tool to generate code has been developed bringing the incorporation and the updating of the data types as a very easy and simple task. In addition, a novel module has been performed to give the capacity to communicate the ANIMO framework with the ROS middleware that makes even easier the integration of mobile robots as another Cooperating Object. This paper explains the complete architecture of the ANIMO framework, its diversity of possibilities and two principal works where it has been applied. One is a distributed simulator to validate embedded control algorithms. The other is the task of the supervision and message passing between quadrotors in an experiment of coordination and cooperation involving multiple aerial vehicles.
In Distributed Control Systems (DCS) the distribution of sensor data needs to be optimized in order to reduce the client process redundancy, i.e.: same sensor data processing in different clients. This paper presents an implementation of Embedded Networked Sensors as Smart Resources that allows to access to high-level information abstracting the user from low level mechanisms. The distributed services provided by Smart Resources implement self-aware adaptation mechanisms in order to suit the performance to the context. Information integrity must be also ensured during this adaptation. The Smart Resource implementation is based on a RGBD sensor. Through a set of experiments is evaluated the performance of the reconfiguration and adaptation mechanisms and detailed the influence of the data integrity according to the provided service.
Recently, some research in robotics has studied robot software platform to apply the principles of component-based software engineering to robotic control software, and to manage components and their communication with their component execution engine for diverse robot control software. The main problem with robotics software usually is that it runs on a particular software platform. This paper proposes a robot software bridge for interconnecting OPRoS with ROS without modification of these source codes. We have implemented the proposed bridge and evaluated it on the remote robot control application based on OPRoS and ROS.
The mobile industrial manipulator(MIM) which combines the advantages of both the mobile robot and industrial robot and owns powerful mobility, flexibility and functionality will be the next generation of robots. However fully autonomous MIM performing various tasks in unstructured or semi-structured environment is very challenging in autonomous localization & navigation, object identification, control and coordination. However, there is a demand in industry for MIMs to be deployed in hazardous, dangerous and/or remotely environments. Therefore, a semi-autonomous MIM is investigated to perform industrial operations. An MIM prototype using a mobile platform and an industrial robot is developed. Manual and autonomous methods are proposed and implemented to control the prototype manually and autonomously. Experiments using the prototype were performed. Experimental results demonstrate that the robot can run autonomously if there is no ambiguity and the operators can interrupt the autonomous mode at any time if needed. The developed prototype and proposed methods have big potential in industrial applications.
The open-source robot operating system (ROS) has been growing exponentially. Since November 2011, the driver for ROS growth has been a new two-/three-dimensional (2-D/3-D) sensor from a company called Prime-Sense, which has been made available to the mass market as Microsoft Kinect. This sensor delivers both 2-D camera data and 3-D point clouds at the same time, at a distance of about 0.5-3.5 m. In addition to providing a much lower cost sensor for robotics, there is now an open-source library called point cloud library (PCL). PCL is designed to take advantage of the 3-D data that Kinect produces by providing state-of-the-art 3-D computer vision techniques. Another factor driving ROS adoption has been its integration with other open-source frameworks. On the government side, ROS is now being advocated by two U.S. Defense Advanced Research Projects Agency (DARPA) mobile manipulation programs.
Abstract— This paper gives an overview of ROS, an open- source robot operating,system. ROS is not an operating,system in the traditional sense of process management,and scheduling; rather, it provides a structured communications layer above the host operating,systems,of a heterogenous,compute,cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software,which,uses ROS.
The Internet's next evolution will require the current Internet (which concentrates on information access) to combine with an Internet of Things. Consequently, Web services that operate on information will need to seamlessly interoperate with services, and perhaps robotic capabilities, which interact with physical objects. While the paradigm known as service-oriented computing has adopted standard interfaces that aggregate data-centric services, the development of similar standard interfaces for distributed robotic services (that have access to physical objects) has been a challenge for academic and industrial researchers.
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