基于ROS网桥的跨平台网络化人机交互系统设计  

Cross-Platform Networked Human-Computer Interaction System Based on ROS Bridge

作　　者：徐浩 鞠文清 钱夔 潘昱辰 朱晟宇 李嵩爽 XU Hao;JU Wenqing;QIAN Kui;PAN Yuchen;ZHU Shengyu;LI Songshuang(School of Automation,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《测控技术》2023年第12期18-23,共6页Measurement & Control Technology

基　　金：江苏省自然科学青年项目(BK20210931);江苏省产学研合作项目(BY2021023);江苏省高等学校自然科学研究面上项目(20KJB510049);大学生科技创新基金项目(TB202317002)。

摘　　要：针对传统机器人控制系统存在的跨平台开发和部署问题,提出了一种基于ROS(Robot Operating System,机器人操作系统)网桥的跨平台网络化人机交互系统。构建以Node.js框架为服务后端,Boot-strap框架和jQuery组件为交互前端的网络化控制系统架构,通过ROS网桥技术实现万维网(World Wide Web,WWW)端和机器人端的跨平台数据互通,并按需进行机器人控制服务化调用。实验结果表明,该控制系统能够实现机器人端环境感知、状态监视、远程控制等功能,支持个人电脑(Personal Com-puter,PC)端、移动端等泛平台人机交互,具有可模块化敏捷开发、移植扩展性强等优点。In order to solve the cross-platform development and deployment problems of traditional robot control systems,a cross-platform networked human-computer interaction system based on the ROS bridge is proposed.A networked control system architecture with Node.js framework is built as the service backend.Bootstrap framework and jQuery components are used as the networked control system framework.The cross-platform data intercommunication between the world wide web(WWW)side and the robot side is realized by ROS bridge technology and the on-demand robot control service-oriented calls are realized.The experimental results show that the control system can realize the functions of robot side environment perception,status monitoring,remote control,and other functions,support personal computer side,mobile terminal,and other pan-platform human-computer interaction,and has the advantages of modular and agile development,strong porting scalability and so on.

关 键 词：移动机器人 机器人操作系统 人机交互 跨平台 服务化 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]