Paper Details

Communicating Process Architectures (CPA)
 Title: Connecting Two Robot-Software Communicating Architectures: ROS and LUNA
 Conference: Communicating Process Architectures 2016
 Authors: W. Mathijs van der Werf, Jan F. Broenink
Robotics and Mechatronics, CTIT Institute, University of Twente
 Abstract: Two current trends in modern robotics and other cyber-physical systems seem to conflict: the desire for better interaction with the environment of the robot increases the needed computational power to extract useful data from advanced sensors. This conflicts with the need for energy efficiency and mobility of the setups. A solution for this conflict is to use a distribution over two parallel systems: offloading a part of the complex and computationally expensive task to a base station, while timing-sensitive parts remain close to the robotic setup on an embedded processor. In this paper, a way to connect two of such systems is presented: a bridge is made between the Robotic Operating System (ROS), a widely used open source environment with many algorithms, and the CSP-execution engine LUNA. The bridge uses a (wireless) network connection, and provides a generic and reconfigurable way of connecting these two environments. The design, implementation in both environments, and tests characterizing the bridge are described in this paper. 

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