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

Tomoya Itsuka, Minsoo Song, Akihiro Kawamura, Ryo Kurazume

研究成果: ジャーナルへの寄稿学術誌査読

抄録

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.

本文言語英語
論文番号1
ジャーナルROBOMECH Journal
9
1
DOI
出版ステータス出版済み - 12月 2022

!!!All Science Journal Classification (ASJC) codes

  • モデリングとシミュレーション
  • 器械工学
  • 機械工学
  • 制御と最適化
  • 人工知能

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