Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Event Port Extension of OPRoS Framework for Inter-connecting with ROS Topic

ROS 토픽과 결합 가능한 OPRoS 프레임워크의 이벤트 포트 확장 개발

  • Jang, Choulsoo (Intelligent Cognitive Technology Research Department, Electronics and Telecommunications Research Institute) ;
  • Song, Byoungyoul (Intelligent Cognitive Technology Research Department, Electronics and Telecommunications Research Institute) ;
  • Kim, Sunghoon (Intelligent Cognitive Technology Research Department, Electronics and Telecommunications Research Institute)
  • 장철수 (한국전자통신연구원 지능형인지기술연구부) ;
  • 송병열 (한국전자통신연구원 지능형인지기술연구부) ;
  • 김성훈 (한국전자통신연구원 지능형인지기술연구부)
  • Received : 2014.07.07
  • Accepted : 2014.09.15
  • Published : 2014.12.01
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Abstract

ROS is based on a graph architecture where processing takes place in nodes. Nodes communicate together by passing messages through topics based on the publish/subscribe model. On the other hand, OPRoS components know each other and are tightly-coupled via port connections, and different coupling schemes make the interoperation between two platforms difficult. This paper describes an extension of OPRoS framework to support the interoperation with the ROS topic.

Keywords

References

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