ROSlink: Interfacing legacy systems with ROS
ROSlink: Interfacing legacy systems with ROS
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ROSlink：遗留系统与 ROS 的接口
DOI：
10.1109/icra.2013.6630617
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
H. Ishiguro
中科院分区：
文献类型：
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作者：
F. D. Libera;H. Ishiguro
本文介绍了ROSlink，一个开源项目，旨在简化遗留系统与ROS（机器人操作系统）的集成。它的设计原理提供了一套独特的功能，使其对ROS与无法安装ROS本身的系统的互连具有吸引力。首先，ROSlink需要对遗留系统进行非常有限的更改。该项目是自包含的，没有依赖性，这在遗留系统中可能很难满足。此外，通过ROSlink，任何已经在遗留系统中使用的数据类型都可以用于主题和服务请求和响应的通信。ROSlink允许遗留系统和ROS之间的通信在运行时重新路由。此外，它通过ROS名称重映射系统来增强遗留代码，而不会对遗留程序的命令行参数施加任何约束。最后，通过简单地使用一组紧跟ROS编程接口的API，ROSlink简化了代码到真实的ROS系统的任何后续移植。本文讨论了ROSlink的主要设计选择。然后给出了ROSlink的实际应用和测试列表，以及对该项目未来方向的简短讨论。
This paper presents ROSlink, an open source project that aims at easing the integration of legacy systems with ROS (Robot Operating System). Its design principles provide a set of unique features that make it appealing for the interconnection of ROS with systems where ROS itself cannot be installed. First, ROSlink requires very limited changes to the legacy system. The project is self contained, bringing in no dependencies, which may be difficult to satisfy in a legacy system. Furthermore, with ROSlink any data type already in use in the legacy system can be employed for the communication of topics and service requests and responses. ROSlink allows run-time rerouting of the communication between the legacy system and ROS. Moreover, it empowers the legacy code with the ROS name remapping system, without enforcing any constraint on the command line parameters of legacy programs. Finally, by simply using a set of API that closely follow the ROS programming interface, ROSlink simplifies any successive porting of the code to a real ROS system. In this paper, the main design choices of ROSlink are discussed. A list of practical applications and tests where ROSlink was employed, as well as a short discussion on the project's future directions are then given.