Generating a ROS/JAUS bridge for an autonomous ground vehicle

Patrick Morley, Alex Warren, Ethan Rabb, Sean Whitsitt, Matt Bunting, Jonathan Sprinkle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Robotic systems have benefitted from standardized middleware that can componentize the development of new capabilities for a robot. The popularity of these robotic middleware systems has resulted in sizable libraries of components that are now available to roboticists. However, many robotic systems (such as autonomous vehicles) must adhere to externally defined standards that do not contain a large repository of components. Due to the real-time and safety concerns that accompany the domain of unmanned systems, it is not trivial to interface these middleware systems. However, previous attempts to do so have succeeded at the cost of ad hoc design and implementation. This paper describes a domain-specific approach to the synthesis of a bridge between the popular Robotic Operating System (ROS) and the Joint Architecture for Unmanned Systems (JAUS). The domain-specific nature of the approach permits the bridge to be limited in scope by the application's specific messages (and their attribute mappings between JAUS/ROS), resulting in smaller code size and overhead than would be incurred by a generic solution. Our approach is validated by tests performed on an unmanned vehicle with and without the JAUS/ROS bridge.

Original languageEnglish (US)
Title of host publicationDSM 2013 - Proceedings of the 2013 ACM Workshop on Domain-Specific Modeling
PublisherAssociation for Computing Machinery
Pages13-18
Number of pages6
ISBN (Print)9781450326001
DOIs
StatePublished - Jan 1 2013
Event2013 13th ACM Workshop on Domain-Specific Modeling, DSM 2013 - Indianapolis, IN, United States
Duration: Oct 27 2013Oct 27 2013

Publication series

NameDSM 2013 - Proceedings of the 2013 ACM Workshop on Domain-Specific Modeling

Other

Other2013 13th ACM Workshop on Domain-Specific Modeling, DSM 2013
CountryUnited States
CityIndianapolis, IN
Period10/27/1310/27/13

Keywords

  • Attribute mapping
  • Autonomous vehicles
  • Code generation
  • JAUS
  • ROS

ASJC Scopus subject areas

  • Modeling and Simulation

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  • Cite this

    Morley, P., Warren, A., Rabb, E., Whitsitt, S., Bunting, M., & Sprinkle, J. (2013). Generating a ROS/JAUS bridge for an autonomous ground vehicle. In DSM 2013 - Proceedings of the 2013 ACM Workshop on Domain-Specific Modeling (pp. 13-18). (DSM 2013 - Proceedings of the 2013 ACM Workshop on Domain-Specific Modeling). Association for Computing Machinery. https://doi.org/10.1145/2541928.2541931