Robot Web Tools: Efficient messaging for cloud robotics

Toris, Russell; Kammerl, Julius; Lu, David V.; Lee, Jihoon; Jenkins, Odest Chadwicke; Osentoski, Sarah; Wills, Mitchell; Chernova, Sonia

doi:10.1109/iros.2015.7354021

Cited by 72 publications

(43 citation statements)

References 16 publications

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“…Even when there is a clear dominance of ROS frameworks as the main communication tool for the integration of academic software in robotic laboratories, it is not totally free of disadvantages. As described in [15], ROS and most robot middleware still present many shortcomings regarding usability, portability, accessibility, compatibility and platform dependencies. The authors of [16] also describe the difficulty in learning as one of the main reasons why users do not prefer or use ROS frameworks for their robotic projects.…”

Section: Related Workmentioning

confidence: 99%

“…An example of a framework for cloud robotics is Rapyuta [47], which is used in the RoboEarth project [48]. Robot Web Tools [15] provides a set of open source modules using the rosbridge protocol as main technology to enable Client/Server messaging of ROS topics over wide area networks WAN. However, cloud robotics is out of the scope of the current objectives of NEP.…”

Section: What Is Nep?mentioning

confidence: 99%

See 1 more Smart Citation

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Coronado

Venture

2020

Sensors

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This article presents the novel Python, C# and JavaScript libraries of Node Primitives (NEP), a high-level, open, distributed, and component-based framework designed to enable easy development of cross-platform software architectures. NEP is built on top of low-level, high-performance and robust sockets libraries (ZeroMQ and Nanomsg) and robot middlewares (ROS 1 and ROS 2). This enables platform-independent development of Human–Robot Interaction (HRI) software architectures. We show minimal code examples for enabling Publish/Subscribe communication between Internet of Things (IoT) and Robotics modules. Two user cases performed outside laboratories are briefly described in order to prove the technological feasibility of NEP for developing real-world applications. The first user case briefly shows the potential of using NEP for enabling the creation of End-User Development (EUD) interfaces for IoT-aided Human–Robot Interaction. The second user case briefly describes a software architecture integrating state-of-art sensory devices, deep learning perceptual modules, and a ROS -based humanoid robot to enable IoT-aided HRI in a public space. Finally, a comparative study showed better latency results of NEP over a popular state-of-art tool (ROS using rosbridge) for connecting different nodes executed in local-host and local area network (LAN).

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Section: Related Workmentioning

confidence: 99%

Section: What Is Nep?mentioning

confidence: 99%

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Coronado

Venture

2020

Sensors

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“…This allows for application-level flexibility by exposing each of the robot's behaviors through a URI with parameters and thus enables driving the robot in various ways, from manual control triggers to programming its behavior in code. Other web-based robotics frameworks have been developed, including rosbridge [20], Robot Web Tools [78], the Robot Operating System (ROS) Transmission Control Protocol (TCP) [60], Raputya [35,53], and standard protocol-based approaches [62]. We opted for OpenWoZ for three reasons: First, it has a lightweight footprint, as the full server and event-handling code is contained in a single python class and does not require installation of a large framework such as ROS.…”

Section: Softwarementioning

confidence: 99%

Blossom

Suguitan

Hoffman

2019

J. Hum.-Robot Interact.

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Blossom is an open-source social robotics platform responding to three challenges in human-robot interaction (HRI) research: (1) Designing, manufacturing, and programming social robots requires a high level of technical knowledge; (2) social robot designs are fixed in appearance and movement capabilities, making them hard to adapt to a specific application; and (3) the use of rigid mechanisms and hard outer shells limits the robots' expressive capabilities. Addressing these challenges, Blossom aims at three design objectives: accessibility, flexibility, and expressiveness. The robot's mechanism can be quickly assembled and partially extended by end-users. Blossom's appearance is open-ended through handcrafted fabric exteriors created and customized by users. Smooth organic movements are achieved with tensile mechanisms, elastic components, and a soft exterior cover attached loosely to the body. Blossom's smartphone-based gesture generation requires neither programming nor character animation experience, allowing lay users to create their own behaviors. All elements in the design were conceived with a low barrier-of-entry in mind. The result is an accessible and customizable social robot for researchers. This article details the implementation of Blossom's design and demonstrates the platform's potential through four field deployment case studies.

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“…The above motivations are shared with recent work (Osentoski et al, 2011;Toris et al, 2015), where a JavaScript framework was developed to allow portable devices to communicate with the Robot Operating System (ROS) using Websockets and JavaScript. In this sense, the client side of yarp.js can be interpreted as the equivalent of the ros.js framework for the YARP environment, and one interesting byproduct of this work is the possibility to create applications that naturally bridge YARP and ROS frameworks by leveraging the two corresponding JavaScript libraries.…”

Section: Robots Modern Web Apis and Nodejsmentioning

confidence: 99%

Connecting YARP to the Web with Yarp.js

Ciliberto

2017

Front. Robot. AI

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We present yarp.js, a JavaScript framework enabling robotics networks to interface and interact with external devices by exploiting modern Web communication protocols. By connecting a YARP server module with a browser client on any external device, yarp.js allows to access on board sensors using standard Web APIs and stream the acquired data through the yarp.js network without the need for any installation. Communication between YARP modules and yarp.js clients is bi-directional, opening also the possibility for robotics applications to exploit the capabilities of modern browsers to process external data, such as speech synthesis, 3D data visualization, or video streaming to name a few. Yarp.js requires only a browser installed on the client device, allowing for fast and easy deployment of novel applications. The code and sample applications to get started with the proposed framework are available for the community at the yarp.js GitHub repository.

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Robot Web Tools: Efficient messaging for cloud robotics

Cited by 72 publications

References 16 publications

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Blossom

Connecting YARP to the Web with Yarp.js

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