Yves Bergeon, Vaclav Krivanek
Design of an Open Hardware Bridge Between Robots and ROS/non-ROS Environments
Číslo: 2/2018
Periodikum: Advances in Electrical and Electronic Engineering
ISBN: 1804-3119
DOI: 10.15598/aeee.v16i2.2439
Klíčová slova: Differential-drive robot; interface; robotics; ROS; swarm; Turtlebot2; unicycle robot, Robot s diferenčním pohonem; rozhraní; robotika; ROS; roj; Turtlebot2; Jednokruhový robot
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This paper describes the design and the results of using a standard interface (bridge) on a robot which allows wireless communication with a centralized computer and local serial communication with a mobile robot. On this interface, we can connect every sensor we want (infrared, ultrasound, laser, Kinect etc.) and we can always use the same tools to control them.
Extension of the protocol of the Kobuki base (TurtleBot2) is proposed to be able to use the same type of frame as the TurtleBot 2 uses and to continue to use ROS middleware as is, but with the possibility to use data from new sensors implemented on the bridge. This article will focus on the use of the TurtleBot 2, but the same bridge will be adapted to other robots allowing their interchangeability in the future.