论文标题
ROS-MOBILE：机器人操作系统的Android应用程序
ROS-Mobile: An Android application for the Robot Operating System
论文作者
论文摘要
控制和监视复杂的自主和半自主机器人系统是一项艰巨的任务。开发了机器人操作系统（ROS）是在Ubuntu Linux上运行的机器人中间件系统，该系统允许使用硬件抽象，在单个过程和软件包管理之间进行消息。但是，缺少对移动设备的ROS应用程序的积极支持，例如智能手机或平板电脑。我们为Android开发了一个ROS应用程序，该应用程序带有一个直观的用户界面，用于控制和监视机器人系统。我们的开源贡献可用于多种任务和许多不同类型的机器人。此外，它可以轻松自定义并添加新功能。在本文中，我们对软件体系结构，主要功能进行了概述，并在不同的移动机器人系统上显示了一些可能的用例。
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst others, hardware abstraction, message-passing between individual processes and package management. However, active support of ROS applications for mobile devices, such as smarthphones or tablets, are missing. We developed a ROS application for Android, which comes with an intuitive user interface for controlling and monitoring robotic systems. Our open source contribution can be used in a large variety of tasks and with many different kinds of robots. Moreover, it can easily be customized and new features added. In this paper, we give an outline over the software architecture, the main functionalities and show some possible use-cases on different mobile robotic systems.
