TY - GEN
T1 - Robot Navigation System Connecting OpenRTM to ROS Systems with eSEAT
AU - Kato, Koichiro
AU - Matsuhira, Nobuto
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In recent years, the problem of the aging population and declining birth rate in Japan inspired research and development of service robots. Although we can provide a variety of services through coordination between the robots, it is difficult to synchronize the robots running on different software. In this paper, we propose a system concept and the coordination of different robot middlewares and demonstrate the system concept by implementing an actual robot system. More specifically, we develop a guidance system for a mobile robot using two middlewares OpenRTM and ROS with coordinating system eSEAT to convert the data types used in both systems. Additionally, we verify the efficiency of the system by combining it with Node-RED (superordinate system for scenario generation of robot) developed in our previous research in the future.
AB - In recent years, the problem of the aging population and declining birth rate in Japan inspired research and development of service robots. Although we can provide a variety of services through coordination between the robots, it is difficult to synchronize the robots running on different software. In this paper, we propose a system concept and the coordination of different robot middlewares and demonstrate the system concept by implementing an actual robot system. More specifically, we develop a guidance system for a mobile robot using two middlewares OpenRTM and ROS with coordinating system eSEAT to convert the data types used in both systems. Additionally, we verify the efficiency of the system by combining it with Node-RED (superordinate system for scenario generation of robot) developed in our previous research in the future.
UR - http://www.scopus.com/inward/record.url?scp=85126231772&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85126231772&partnerID=8YFLogxK
U2 - 10.1109/SII52469.2022.9708863
DO - 10.1109/SII52469.2022.9708863
M3 - Conference contribution
AN - SCOPUS:85126231772
T3 - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
SP - 850
EP - 855
BT - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
Y2 - 9 January 2022 through 12 January 2022
ER -