Advertisement

Integrating Wireless Sensor Nodes in the Robot Operating System

  • Philipp M. SchollEmail author
  • Martina Brachmann
  • Silvia Santini
  • Kristof Van Laerhoven
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 554)

Abstract

The Robot Operating System (ROS) is a popular middleware that eases the design, implementation, and maintenance of robot systems. In particular, ROS enables the integration of a large number of heterogeneous devices in a single system. To allow these devices to communicate and cooperate, ROS requires device-specific interfaces to be available. This restricts the number of devices that can effectively be integrated in a ROS-based system. In this work we present the design, implementation, and evaluation of a ROS middleware client that allows to integrate constrained devices like wireless sensor nodes in a ROS-based system. Wireless sensor nodes embedded in the environment in which a robot system is operating can indeed help robots in navigating and interacting with the environment. The client has been implemented for devices running the Contiki operating system but its design can be readily extended to other systems like, e.g., TinyOS. Our evaluation shows that: in-buffer processing of ROS messages without relying on dynamic memory allocation is possible; message contents can be accessed conveniently using well-known concepts of the C language (structs) with negligible processing overhead with respect to a C++-based client; and that ROS’ message-passing abstraction facilitates the integration of devices running event-based systems like Contiki.

Keywords

Sensor Node Wireless Sensor Network Resource Discovery Wireless Sensor Node Dynamic Array 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Aberer, K., Hauswirth, M., Salehi, A.: Global sensor networks. Technical Report LSIR-REPORT-2006-001, EPFL (2006)Google Scholar
  2. 2.
    Akyildiz, I.F., Su, W., Sankarasubramaniam, Y., Cayirci, E.: Wireless sensor networks: a survey. Computer Networks 38(4), 393–422 (2002)CrossRefGoogle Scholar
  3. 3.
    Buonadonna, P., Hill, J., Culler, D.: Active message communication for tiny networked sensors (2001)Google Scholar
  4. 4.
    Dunkels, A., Gronvall, B., Voigt, T.: Contiki - A Lightweight and Flexible Operating System for Tiny Networked Sensors. In: Proceedings of the 29th Annual IEEE International Conference on Local Computer Networks (LCN 2004), pp. 455–462. IEEE Computer Society, Washington, DC (2004)CrossRefGoogle Scholar
  5. 5.
    Eugster, P.T., Felber, P.A., Guerraoui, R., Kermarrec, A.-M.: The Many Faces of Publish/Subscribe. ACM Computing Surveys 35(2), 114–131 (2003)CrossRefGoogle Scholar
  6. 6.
    Hughes, D., Thoelen, K., Horré, W., Matthys, N., Cid, J.D., Michiels, S., Huygens, C., Joosen, W.: LooCI: A Loosely-coupled Component Infrastructure for Networked Embedded Systems. In: Proceedings of the 7th International Conference on Advances in Mobile Computing and Multimedia (MoMM 2009), pp. 195–203. ACM, New York (2009)CrossRefGoogle Scholar
  7. 7.
    Kovatsch, M., Duquennoy, S., Dunkels, A.: A low-power CoAP for Contiki. In: Proceedings of the 8th IEEE International Conference on Mobile Ad-hoc and Sensor Systems (MASS 2011), Valencia, Spain. IEEE (October 2011)Google Scholar
  8. 8.
    Kumar, V., Rus, D., Singh, S.: Robot and Sensor Networks for First Responders. IEEE Pervasive Computing 3(4), 24–33 (2004)CrossRefGoogle Scholar
  9. 9.
    Levis, P., Madden, S., Polastre, J., Szewczyk, R., Whitehouse, K., Woo, A., Gay, D., Hill, J., Welsh, M., Brewer, E., Culler, D.: TinyOS: An Operating System for Sensor Networks. In: Weber, W., Rabaey, J., Aarts, E. (eds.) Ambient Intelligence, ch. 7, pp. 115–148. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  10. 10.
    Lorincz, K., Malan, D.J., Fulford-Jones, T.R., Nawoj, A., Clavel, A., Shnayder, V., Mainland, G., Welsh, M., Moulton, S.: Sensor networks for emergency response: challenges and opportunities. IEEE Pervasive Computing 3(4), 16–23 (2004)CrossRefGoogle Scholar
  11. 11.
    Martinez, A., Fernández, E.: Learning ROS for Robotics Programming. Packt Publishing (Septeber 2013)Google Scholar
  12. 12.
    Nagatani, K., Kiribayashi, S., Okada, Y., Otake, K., Yoshida, K., Tadokoro, S., Nishimura, T., Yoshida, T., Koyanagi, E., Fukushima, M., Kawatsuma, S.: Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots. Journal of Field Robotics 30(1), 44–63 (2013)CrossRefGoogle Scholar
  13. 13.
    Nath, S., Ke, Y., Gibbons, P.B., Karp, B., Seshan, S.: IrisNet: An Architecture for Enabling Sensor-Enriched Internet Services. Technical Report IRP-TR-02-10, Intel Research Pittsburgh (December 2002)Google Scholar
  14. 14.
    Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T.B., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software (May 2009)Google Scholar
  15. 15.
    Römer, K., Kasten, O., Mattern, F.: Middleware challenges for wireless sensor networks. ACM SIGMOBILE Mobile Computing and Communication Review (MC2R) 6(4), 59–61 (2002)CrossRefGoogle Scholar
  16. 16.
    Suzuki, T., Kawabata, K., Hada, Y., Tobe, Y.: Deployment of Wireless Sensor Network using Mobile Robots to Construct an Intelligent Environment in a Multi-Robot Sensor Network (July 2008)Google Scholar
  17. 17.
    Yu, Y., Krishnamachari, B., Prasanna, V.K.: Issues in designing middleware for wireless sensor networks. IEEE Network Magazine (2003)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Philipp M. Scholl
    • 1
    Email author
  • Martina Brachmann
    • 2
  • Silvia Santini
    • 2
  • Kristof Van Laerhoven
    • 1
  1. 1.ESSTechnische Universität DarmstadtDarmstadtGermany
  2. 2.WSN LabTechnische Universität DarmstadtDarmstadtGermany

Personalised recommendations