ROS, Android and cloud robotics: How to make a powerful low cost robot

Barbosa, Joao Paulo de A.; Lima, Fabio do P. de C.; Coutinho, Leonardo dos S.; Leite, João; Machado, Jeremias Barbosa; Valerio, Carlos Henrique; Bastos, Guilherme Sousa

doi:10.1109/icar.2015.7251449

Cited by 11 publications

(6 citation statements)

References 10 publications

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“…The user can request a service through the front-end and check the current operation status of the robot. Front-end platforms that can interact with ROS have Android [26,27] and web browsers [28,29]. If implemented to operate on the Android platform, the use is limited because it can only operate on devices with Android OS.…”

Section: B Front-end Softwarementioning

confidence: 99%

Real-Time Characteristics of ROS 2.0 in Multiagent Robot Systems: An Empirical Study

2020

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Due to its ease of use and flexibility, the robot operating system (ROS) is increasingly becoming the most popular middleware for robot applications, even in multiagent systems. Since ROS 1.0 does not satisfy real-time requirements, ROS 2.0 was developed, and it improved the communication stack with the real-time data distribution service (DDS) protocol. However, the actual performance level to be expected is still unknown and can largely depend on the operating system and the kernel being used, the DDS distribution, and the overall software load of the system. In this paper, we present an empirical study that evaluates the real-time performance of ROS 2.0 in both the system and communication software layers. In the system layer, the deterministic behavior of the ROS 2.0 nodes is thoroughly observed with regard to whether the tasks are schedulable and can function within the specified temporal deadline. In the communication layer, special attention is devoted to the rate of data loss and the overall latency of messages between nodes. Experiments are performed in various working conditions; for example, the system load is increased to define the real-time performance of the tasks. For reference, the results are compared with the those from the traditional ROS variation. Moreover, we implement a multiagent service robot system to verify the suitability of ROS 2.0 for real-world applications. Our results show that the application of ROS 2.0 is more suitable than that of ROS 1.0 in terms of real-time performance.

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Section: B Front-end Softwarementioning

confidence: 99%

Real-Time Characteristics of ROS 2.0 in Multiagent Robot Systems: An Empirical Study

2020

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“…There have been different attempts and studies regarding remote control and monitoring of robots via Android mobile devices. For example, in [10], a low cost robot framework, controlled by two different Android applications based on ROSJava [11], was introduced. In [12], a remote control application for mobile robots built from Lego Mindstorms NXT kit was proposed.…”

Section: Related Workmentioning

confidence: 99%

ROS-Mobile: An Android application for the Robot Operating System

Rottmann,

Studt,

Ernst

et al. 2020

Preprint

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Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst others, hardware abstraction, message-passing between individual processes and package management. However, active support of ROS applications for mobile devices, such as smarthphones or tablets, are missing. We developed a ROS application for Android, which comes with an intuitive user interface for controlling and monitoring robotic systems. Our open source contribution can be used in a large variety of tasks and with many different kinds of robots. Moreover, it can easily be customized and new features added. In this paper, we give an outline over the software architecture, the main functionalities and show some possible use-cases on different mobile robotic systems.

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“…Together, they allow developers create android Apps that can interact with ROSenabled robots. 5,6,12,13 However, the challenges in using android are similar to those of rosbridge, rosjava, and android_core, which only provide the building blocks to develop ROS-android apps, but developers still need to develop them. They need to write the rosjava code to facilitate the multidirectional and simultaneous flow of robot data of the ROS network for every ROS message in the robot application.…”

Section: Literature Reviewmentioning

confidence: 99%

“…A number of cloud-based solutions facilitate this, such as webservers, android, and a number of cloudrobotics platforms, such as RoboEarth. [4][5][6][7][8][9] However, utilizing these solutions for ROS applications is challenging; by default, webservers host data and publish it only when requested by clients, such as web applications or android Apps. But in a ROS network, every component acts as client and/or a server, publishing and/or receiving robot data.…”

Section: Introductionmentioning

confidence: 99%

Establishing remote networks for ROS applications via Port Forwarding

Hajjaj

Sahari

2017

International Journal of Advanced Robotic Systems

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In a Robot Operating System (ROS) application, robot software is often distributed across multiple networked components, forming the ROS network, where every component acts as server and/or a client, and publishing and/ or receiving robot data simultaneously. For indoor robots, a local ROS network, through a Wi-Fi hotspot, is sufficient. But for outdoor robots, a remote ROS network is needed to connect the ROS application to the cloud. Although a number of cloud-based solutions support this, implementing them is challenging, as they need to be configured to facilitate ROS's unique, multidirectional, and simultaneous flow of robot data. This article presents Port Forwarding as an alternative approach, which offers a private, secured, and a direct ROS-to-ROS, eliminating the need for a dedicated middleware and its configuration and setup complexities. But Port Forwarding has its own challenges; chiefly, the beforehand knowledge of Internet addresses of all networked components and the need to update port forwarding settings when these addresses change, which they often do. This article addresses this issue (and others) and presents a detailed procedure for setting Port Forwarding for ROS applications, highlighting configuration, and troubleshooting steps. Also, the article compares between Port Forwarding and cloud-based solutions, in terms of setup, performance, and others. Results show that robot performance under Port Forwarding is on par with cloud-based solutions, but it required a fraction of setup time. The authors developed a set of shell scripts that monitor the Internet addresses of all networked components and auto-update Port Forwarding settings when they change, solving this issue. With this, Port Forwarding could be considered a viable option for ROS system networks, on par with cloud-based solutions.

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ROS, Android and cloud robotics: How to make a powerful low cost robot

Cited by 11 publications

References 10 publications

Real-Time Characteristics of ROS 2.0 in Multiagent Robot Systems: An Empirical Study

Real-Time Characteristics of ROS 2.0 in Multiagent Robot Systems: An Empirical Study

ROS-Mobile: An Android application for the Robot Operating System

Establishing remote networks for ROS applications via Port Forwarding

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