ROStoJAUSBridge Manual

Abstract

The ROStoJAUSBridge is a software program implemented at the U.S. Army Research Laboratory (ARL) to leverage the image processing and intelligent mobility behaviors capabilities from the robot operating system (ROS) to the small unmanned ground vehicle (SUG)V. This software program allows for interaction between programs running on ROS and the iRobot SUGV. It converts ROS messages to messages adhering to the Joint Architecture for Unmanned Systems (JAUS) architecture and vice versa. The supported set of messages is limited to query and receive the velocity state of the SUGV which will be used with the inertial measurement unit (IMU) data to compute the local pose; and to send the velocity commands from ROS' programs to the SUGV.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2012
Accession Number
ADA559379

Entities

People

  • Chirag Rao
  • Hung D. Nguyen
  • John A. Rogers
  • Laurel Sadler

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Computer Programs
  • Ground Vehicles
  • Inertial Measurement Units
  • Laser Radar
  • Measurement
  • Military Research
  • Mobility
  • Navigation
  • Network Protocols
  • Operating Systems
  • Simultaneous Localization And Mapping
  • Three Dimensional
  • Unmanned
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Computer Science.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy