A heterogeneous coupling scheme of OPRoS component framework with ROS

Author

Choulsoo Jang ; Byoungyoul Song ; SeungWoog Jung ; Sunghoon Kim

Author_Institution

Robot/Cognitive Syst. Convergence Res. Dept., Electron. & Telecommun. Res. Inst., Daejeon, South Korea

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

298

Lastpage

301

Abstract

The Open Platform for Robotic Services (OPRoS) supports the full life cycle for robot software development and execution by providing the robot software component model, component execution engine, various middleware services, development tools, and simulation environment. This paper describes a heterogeneous coupling scheme of OPRoS framework with ROS of which the communication infrastructure is made with the topics based on public/subscribe scheme.

Keywords

control engineering computing; middleware; object-oriented programming; open systems; robots; software reliability; OPRoS component framework; ROS; communication infrastructure; component execution engine; development tools; heterogeneous coupling scheme; middleware services; open platform for robotic services; public/subscribe scheme; robot software component model; robot software development execution; robot software development life cycle; simulation environment; Couplings; Engines; Generators; Ports (Computers); Publishing; Robots; Software; Component; Composer; Heterogeneous Coupling; OPRoS; ROS;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4673-3111-1

Electronic_ISBN

978-1-4673-3110-4

Type

conf

DOI

10.1109/URAI.2012.6462999

Filename

6462999