- 期刊
開源機器人作業系統第二代的介紹與未來應用
Introduction of Robot Operation System 2.0 and its Future Applications
摘要
ROS 1.0已經有10多年的發展，早已成為機器人研究領域不可或缺的開發環境。然而其中心化的架構，缺乏QoS的通訊方式以及穩健網路假設等缺點，造成研究開發成果難以直接商品化或導入工業應用。因此，OSRF於2014年起開始投入ROS 2.0的開發，採用已在國防軍工業以及大型工業應用中有諸多實戰經歷的DDS作為ROS 2.0的middleware。本篇文章將大致描述ROS 2.0的源起與設計理念，DDS的發展與相關概念，ROS 2.0與DDS的整合架構到ROS 2.0目前的發展與未來可能的應用。
並列摘要
It has been more than ten years since the first version of Robot Operating System (ROS) was released in 2007. Currently, ROS has become the de-facto standard in robotic research field. However, its centralized architecture lack QoS guarantee and assumed reliable wired based network environment. These drawbacks result in a huge gap between prototyping and building commercial products. Therefore, the Open Source Robotics Foundation (OSRF) has been heavily developing the second generation of ROS, called ROS 2.0, from 2014 to tackle these issues. ROS 2.0 adopted Data Distribution Service (DDS), a defense and military industriy proven distributed service, as its middleware. This article mainly focused on the development procedure, design concept, software architecture, and possible applications in the future regarding ROS 2.0.