TY - JOUR
T1 - Development of ROS2-TMS
T2 - new software platform for informationally structured environment
AU - Itsuka, Tomoya
AU - Song, Minsoo
AU - Kawamura, Akihiro
AU - Kurazume, Ryo
N1 - Funding Information:
This work was partially supported by the Cabinet Office (CAO), Cross-Ministerial Strategic Innovation Promotion Program (SIP), “An intelligent knowledge processing infrastructure, integrating physical and virtual domains” (funding agency: NEDO).
Funding Information:
This work was partially supported by the Cabinet Office (CAO) Cross-Ministerial Strategic Innovation Promotion Program (SIP), “An intelligent knowledge processing infrastructure, integrating physical and virtual domains” (funding agency: NEDO).
Publisher Copyright:
© 2022, The Author(s).
PY - 2022/12
Y1 - 2022/12
N2 - This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots. Thus far, we have been developing a software platform, named ROS-TMS, for an informationally structured environment, which connects various sensors and robots using ROS architecture. In recent years, ROS2, a next-generation version of ROS, has been released. ROS2 has many advantages, such as enhanced security, QoS control, and support for various platforms. ROS2-TMS, a new version of ROS-TMS, is developed not only by porting existing modules in ROS-TMS, such as the control system for a communication robot, but also by adding useful functions utilizing new features in ROS2. For instance, we added a voice user interface to control robots and various devices in the environment, such as lights or a bed. In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform.
AB - This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots. Thus far, we have been developing a software platform, named ROS-TMS, for an informationally structured environment, which connects various sensors and robots using ROS architecture. In recent years, ROS2, a next-generation version of ROS, has been released. ROS2 has many advantages, such as enhanced security, QoS control, and support for various platforms. ROS2-TMS, a new version of ROS-TMS, is developed not only by porting existing modules in ROS-TMS, such as the control system for a communication robot, but also by adding useful functions utilizing new features in ROS2. For instance, we added a voice user interface to control robots and various devices in the environment, such as lights or a bed. In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform.
UR - http://www.scopus.com/inward/record.url?scp=85124008424&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85124008424&partnerID=8YFLogxK
U2 - 10.1186/s40648-021-00216-2
DO - 10.1186/s40648-021-00216-2
M3 - Article
AN - SCOPUS:85124008424
SN - 2197-4225
VL - 9
JO - ROBOMECH Journal
JF - ROBOMECH Journal
IS - 1
M1 - 1
ER -