Robot Operating System Integrated robot control through Secure Shell(SSH)

2017 ◽

Vol 8 (4) ◽

pp. 37-46 ◽

Cited By ~ 2

Author(s):

Khadir BESSEGHIEUR ◽

Wojciech KACZMAREK ◽

Jarosław PANASIUK

Keyword(s):

Operating System ◽

Open Source ◽

Autonomous Navigation ◽

Robot Control ◽

Smart Phone ◽

Software Framework ◽

Robot Operating System ◽

Multi Robot

Robot Operating System (ROS) is an open source robot software framework which provides several libraries and tools to easily conduct different robot applications like autonomous navigation and robot teleoperation. Most of the available packages across the ROS community are addressed for controlling a single robot. In this paper, we aim to extend some packages so, they can be used in multi-robot applications on ROS. Mainly, the multi-robot autonomous navigation and multi-robot smart phone teleoperation are addressed in this work. After being extended and compiled, the new packages are assessed in some simulations and experiments with real robots.

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USARSim/ROS: A Combined Framework for Robotic Control and Simulation

ASME/ISCIE 2012 International Symposium on Flexible Automation ◽

10.1115/isfa2012-7179 ◽

2012 ◽

Cited By ~ 15

Author(s):

Stephen Balakirsky ◽

Zeid Kootbally

Keyword(s):

Operating System ◽

Mobile Robot ◽

Open Source ◽

Robot Control ◽

Robotic Arm ◽

Robotic Control ◽

Robot Operating System ◽

Open Source Framework ◽

Robotic Arm Control ◽

Full Utilization

The Robot Operating System (ROS) is steadily gaining popularity among robotics researchers as an open source framework for robot control. Additionally, the Unified System for Automation and Robot Simulation (USARSim) has already been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamlessly interface between ROS and USARSim. It provides for automatic configuration of ROS transforms and topics to allow for full utilization of the simulated hardware. The design of the new node, as well as examples of its use for mobile robot and robotic arm control are presented.

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Develop Real-Time Robot Control Architecture Using Robot Operating System and EtherCAT

Actuators ◽

10.3390/act10070141 ◽

2021 ◽

Vol 10 (7) ◽

pp. 141

Author(s):

Wei-Li Chuang ◽

Ming-Ho Yeh ◽

Yi-Liang Yeh

Keyword(s):

Operating System ◽

Real Time ◽

Robot Control ◽

Data Transfer ◽

Control Architecture ◽

Servo Drive ◽

Robot Operating System ◽

Memory Mechanism ◽

Motion Kernel ◽

Human Robot Collaboration

This paper presents the potential of combining ROS (Robot Operating System), its state-of-art software, and EtherCAT technologies to design real-time robot control architecture for human–robot collaboration. For this, the advantages of an ROS framework here are it is easy to integrate sensors for recognizing human commands and the well-developed communication protocols for data transfer between nodes. We propose a shared memory mechanism to improve the communication between non-real-time ROS nodes and real-time robot control tasks in motion kernel, which is implemented in the ARM development board with a real-time operating system. The jerk-limited trajectory generation approach is implemented in the motion kernel to obtain a fine interpolation of ROS MoveIt planned robot path to motor. EtherCAT technologies with precise multi-axis synchronization performance are used to exchange real-time I/O data between motion kernel and servo drive system. The experimental results show the proposed architecture using ROS and EtherCAT in hard real-time environment is feasible for robot control application. With the proposed architecture, a user can efficiently send commands to a robot to complete tasks or read information from the robot to make decisions, which is helpful to reach the purpose of human–robot collaboration in the future.

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F1_Tenth_Course_Report_Group_C

10.31224/osf.io/68bvh ◽

2018 ◽

Author(s):

Yi Chen ◽

Sagar Manglani ◽

Roberto Merco ◽

Drew Bolduc

Keyword(s):

Operating System ◽

Autonomous Driving ◽

Software Tools ◽

Simulation Environment ◽

Robot Operating System ◽

Available Information

In this paper, we discuss several of major robot/vehicle platforms available and demonstrate the implementation of autonomous techniques on one such platform, the F1/10. Robot Operating System was chosen for its existing collection of software tools, libraries, and simulation environment. We build on the available information for the F1/10 vehicle and illustrate key tools that will help achieve properly functioning hardware. We provide methods to build algorithms and give examples of deploying these algorithms to complete autonomous driving tasks and build 2D maps using SLAM. Finally, we discuss the results of our findings and how they can be improved.

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A Robot Operating System Framework for Secure UAV Communications

Sensors ◽

10.3390/s21041369 ◽

2021 ◽

Vol 21 (4) ◽

pp. 1369

Author(s):

Hyojun Lee ◽

Jiyoung Yoon ◽

Min-Seong Jang ◽

Kyung-Joon Park

Keyword(s):

Operating System ◽

Unmanned Aerial Vehicles ◽

Ground Control ◽

Unmanned Aerial System ◽

Security Framework ◽

Security Vulnerabilities ◽

Robot Operating System ◽

Security Issues ◽

Aerial Vehicles ◽

Ground Control Station

To perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and ground control station (GCS) are also used. The inevitable addition of hardware and software to accomplish UAV operations may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of an unmanned aerial system (UAS). The proposed framework operates in the robot operating system (ROS) and is designed to focus on several perspectives, such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a nonnative and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.

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