Building REST APIs for the Robot Operating System-Mapping Concepts, Interaction
Building REST APIs for the Robot Operating System-Mapping Concepts, Interaction
复制标题
为机器人操作系统构建 REST API - 映射概念、交互
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
A. Harth
中科院分区：
文献类型：
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作者：
Felix Leif Keppmann;M. Maleshkova;A. Harth
物联网（WoT）的愿景旨在利用Web标准来互连所有类型的嵌入式设备和现实世界的对象，从而使它们成为WWW的一部分。因此，WoT的目标是建立一个真正开放、灵活和可扩展的未来设备网络。我们的目标是通过依赖可编程Web中使用的现有和众所周知的Web标准（例如，URI和HTTP）和语义Web（例如，RDF），以实现机器人操作系统（ROS）设备的Web集成。特别是，我们激励的问题，在Web环境中集成ROS设备，详细说明的集成潜力，并描述了具体的应用程序的例子。我们提供了ROS和REST概念以及交互原语之间的映射。此外，我们展示了REST如何能够增强ROS架构在复杂资源和超媒体方面的映射。本文中所描述的贡献为实现WoT铺平了道路，其中ROS设备可以通过使用标准Web技术轻松访问和直接集成，而无需额外的自定义实现工作或添加中间通信层。
The vision of the Web of Things (WoT) aims to leverage Web standards in order to interconnect all types of embedded devices and realworld objects, and thus to make them a part of the WWW. Therefore, WoT aims to build a future Web of devices that is truly open, flexible, and scalable. We aim to contribute towards achieving this goal by relying on existing and well-known Web standards used in the programmable Web (e.g., URI, and HTTP) and the semantic Web (e.g., RDF), in order to enable the Web integration of Robot Operating System (ROS) devices. In particular, we motivate the problem of integrating ROS devices in Web environments, elaborate on the integration potential, and describe specific application examples. We provide a mapping between ROS and REST concepts and interaction primitives. In addition, we show how REST is capable to enhance a mapping of the ROS architecture in terms of complex resources and hypermedia. The contributions described in this paper pave the way towards realising a WoT, where ROS devices can be easily accessed and directly integrated by using standard Web technologies, without additional custom implementation effort or having to add intermediate communication layers.