robot

ROS 2: What is DDS

What is ROS 2?

ROS 2, or Robot Operating System 2, is an open-source framework designed to simplify the development of robot software. It builds upon the concepts introduced in the original ROS but incorporates several key improvements:

  • Real-Time Capabilities: ROS 2 has improved support for multi-threading and asynchronous operations, which is crucial for applications requiring timely and predictable responses.

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ROS 2 and Connext DDS

Welcome ROS 2 Users 

This page will help you get the most from the easy-to-use ROS 2 ecosystem of robotics tools and packages, and the power and performance of RTI Connext DDS.

If you're new to ROS or DDS:

If you're using ROS 2 and are interested in RTI Connext:

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Operating Nomad during the Atacama Desert Trek

http://vislab-ccom.unh.edu/~schwehr/papers/nomad-fsr97.pdf

Nomad is a mobile robot designed for extended planetary exploration. In June and July of 1997, Nomad performed the first such mission, traversing more than 220 kilometers in the Atacama Desert of Chile and exploring a landscape analogous to that of the Moon and Mars.

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1997
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PDF icon nomad-fsr97.pdf

SubjuGator 2011

http://subjugator.org/wp-content/uploads/2011/06/AUVSI-Publication-2011.pdf

Abstract: Modern autonomous underwater vehicle (AUV) research is moving towards multi-agent system integration and control. Many university research projects, however, are restricted by cost to obtain even a single AUV platform. An affordable, robust AUV design is presented with special emphasis on modularity and fault tolerance, guided by previous platform iterations and historically successful AUV designs. Modularity is obtained by the loose coupling of typical AUV tasks such as navigation, image processing, and interaction with platform specific hardware.

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2011
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NASA uses Eclipse RCP and DDS for experiments on the International Space Station

Submitted by admin on Mon, 08/26/2013 - 04:04
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http://ntrs.nasa.gov/search.jsp?R=20130013792

Eclipse and DDS are going to space in 2013! The International Space Station (ISS) is used as a site for experiments any software developed as part of these experiments has to comply with extensive and strict user interface guidelines. NASA Ames Research Center's Intelligent Robotics Group is doing 2 sets of experiments, both with astronauts using Eclipse RCP applications to remotely control robots. One experiment will control SPHERES with an Android Smartphone on the ISS the other experiment will control a K10 rover on Earth.

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RAPID: Robot Application Programming Interface Delegate

http://rapid.nasa.gov

The Robot Application Programming Interface Delegate (RAPID) is a set of software data structures and routines that simplify the process of communicating between multiple diverse robots and their command and control systems. RAPID is not intended to be an all-encompassing API for robot communication, but rather it’s a compatibility layer that permits tools and robotic assets to exchange data and information and allows operators to communicate with heterogeneous robots in a uniform way. RAPID is a compatibility layer that delegates information between robots that speak different languages.

The RAPID specification includes definitions and APIs for messages and services that support supervisory telerobotics operations over near-Earth time delay. RAPID is not a middleware specification, although safety and time-delay capabilities do imply requirements on implementing middleware systems. As currently implemented, the RAPID system can be considered a software reference implementation for remote operations.

For more information, contact David.S.Mittman@jpl.nasa.gov.

RAPID Logo

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