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Design Patterns in Building Software for a Middle Size League Robot Using Robot Operating System
Widyaputra A.a, Mutijarsa K.a
a School of Electrical Engineering and Informatics, Bandung Institute of Technology, Bandung West Java, 40132, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2018 IEEE.There are many ways to build the software for a Middle Size League (MSL) robot. A common problem in developing software for any long-term project including MSL is enabling future developers to maintain and continue further research on the project. A solution to this problem is to use an already existing software development framework. In recent years, the Robot Operating System (ROS) has become the ‘de facto’ standard framework for robotics software development. This paper will explore the advantages found in using ROS as the framework to build a software for a robot The three main advantages that were found in using ROS are data sharing, hardware abstraction, and program concurrency. These advantages allowed the team to build modular software that is more maintainable. Furthermore, there was minimum computation cost found in using ROS. Lastly, the locomotion system was tested. When given a linear movement command, the locomotion system has an average actual distance error of 8.84 cm with a standard deviation of 6.70 cm. It is also found that the average computed error is 3.54 cm with a standard deviation of 1.49 cm.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Data Sharing,Hardware abstractions,Middle Size League (MSL),Program concurrency,Robot operating systems (ROS)[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Data sharing,Hardware abstraction,Middle Size League (MSL),Program concurrency,Robot Operating System (ROS)[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.1109/ICITSI.2018.8696085[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]