Development of ROS2-TMS: new software platform for informationally structured environment

Tomoya Itsuka, Minsoo Song, Akihiro Kawamura, Ryo Kurazume

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots. Thus far, we have been developing a software platform, named ROS-TMS, for an informationally structured environment, which connects various sensors and robots using ROS architecture. In recent years, ROS2, a next-generation version of ROS, has been released. ROS2 has many advantages, such as enhanced security, QoS control, and support for various platforms. ROS2-TMS, a new version of ROS-TMS, is developed not only by porting existing modules in ROS-TMS, such as the control system for a communication robot, but also by adding useful functions utilizing new features in ROS2. For instance, we added a voice user interface to control robots and various devices in the environment, such as lights or a bed. In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform.

Original languageEnglish
Article number1
JournalROBOMECH Journal
Volume9
Issue number1
DOIs
Publication statusPublished - Dec 2022

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Instrumentation
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

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