Ubuntu下ROS变种ROCOS的系统架构  

System Architecture of ROS Variant ROCOS under Ubuntu

作　　者：杜晋华 杜刚[1] 张虎 DU Jin-Hua;DU Gang;ZHANG Hu(School of Information Engineering,China University of Geosciences(Beijing),Bejing 100083,China;School of Physics and Electronic Sciences,Hubei University,Wuhan 430062,China)

机构地区：[1]中国地质大学(北京)信息工程学院,北京100083 [2]湖北大学物理与电子科学学院,武汉430062

出　　处：《计算机系统应用》2021年第7期70-79,共10页Computer Systems & Applications

基　　金：中国地质大学(北京)大学生创新创业项目(202011415049);中国地质大学(北京)实验技术研究与应用项目(354711002)。

摘　　要：伴随人工智能等相关技术的进步,智能机器人技术得到极大提高.其软件上的日渐成熟和硬件设施的不断完善对研究和开发机器人操作系统和体系结构提出新的需求.本文针对目前广泛使用的传统机器人操作系统ROS进行介绍和分析,并对比研究了新型机器人操作系统ROCOS在系统架构方面对传统ROS的改进和优化,详细介绍了两者的组织框架,并通过仿真实验实际测试了两者框架的合理性与使用效果,对后续新型机器人操作系统的研发具有借鉴意义.With the progress in artificial intelligence and other related technologies,the intelligent robot technology has been greatly advanced.Its increasingly mature software and hardware facilities put forward new requirements for the research and development of the robot operating system and architecture.In this paper,a traditional widely-used robot operating system,ROS,is introduced and analyzed,and the improved robot operating system,ROCOS,is compared with ROS to analyze the optimized system architecture.Additionally,the organizational frameworks of the both are detailed,and the simulation experiment is conducted to test the rationality and performance of the frameworks.The presented work can serve as a reference for the subsequent research and development of new robot operating systems.

关 键 词：ROS ROCOS 系统架构 机器人操作系统 UBUNTU 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]