IoT Devices and Robot Communication Platform by ROS2

Rawin Chaisittiporn

Abstract


This paper presents how to use ROS2, open source middleware for robot to be a platform for IoT devices and robots communication. ROS2 important features are selected to be a model for these jobs. There are QoS communication, life cycle management, behavior tree coding style. By using these features the platform can be applied effectively, connected seamlessly and cheap. Case study are set up by raspberry pi 4 with sensors, ROS2 foxy and python code. The robot is TIAgo gazebo simulation with python code. The results show that ROS2 can support message passing between IoT devices sensors and robot. Moreover, it can adapt to network traffic quality by its QoS policies. Behavior tree help robot design to dynamically adapt to uncertain environment. Finally, life cycle manageable node makes robust functions for IoT device nodes. Summarily, ROS2 is an interesting alternative choice for co-cooperative IoT devices and robot ecosystem, on open source based software.


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References


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