Name
Abstract | ||
|---|---|---|
Robot systems largely depend on embedded systems to opera. The interfaces of those embedded systems, e.g. motor controllers or laser scanners, are often vendor-specific and therefore require a component that translates from/to the Robot Operating System (ROS) Middleware interface. In this work we present an implementation and evaluation of a ROS :Middleware client based on the Contiki operating systems, which is suitable for constrained embedded devices, like wireless sensor nodes. We show that in-buffer processing of ROS messages without relying on dynamic memory allocation is possible. That message contents can be accessed conveniently via well-known concepts of the C language (structs) with negligible processing overhead compared to a C++-based client. And that the message-passing middle-ware concept of ROS fits nicely in Contiki's event-based nature. Furthermore, in order for an environment enriched with wireless sensor network to help robots in navigating, understanding and manipulating environments a direct integration is mandatory. (c) 2013 The Authors. Published by Elsevier B.V. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1016/j.procs.2013.06.158 | 4TH INTERNATIONAL CONFERENCE ON AMBIENT SYSTEMS, NETWORKS AND TECHNOLOGIES (ANT 2013), THE 3RD INTERNATIONAL CONFERENCE ON SUSTAINABLE ENERGY INFORMATION TECHNOLOGY (SEIT-2013) |
Keywords | Field | DocType |
wireless sensor networks, middleware, robot operating system, code generation | Embedded operating system,Middleware,Key distribution in wireless sensor networks,Wireless,C dynamic memory allocation,Computer science,Motor controller,Robot,Wireless sensor network,Embedded system,Distributed computing | Conference |
Volume | ISSN | Citations |
19 | 1877-0509 | 3 |
PageRank | References | Authors |
0.44 | 3 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Philipp Scholl | 1 | 54 | 18.12 |
| Brahim El Majoub | 2 | 3 | 0.44 |
| Silvia Santini | 3 | 3 | 0.78 |
| K Van Laerhoven | 4 | 1083 | 185.94 |