A heterogeneous coupling scheme of OPRoS component framework with ROS

摘要

The Open Platform for Robotic Services (OPRoS) supports the full life cycle for robot software development and execution by providing the robot software component model, component execution engine, various middleware services, development tools, and simulation environment. This paper describes a heterogeneous coupling scheme of OPRoS framework with ROS of which the communication infrastructure is made with the topics based on public/subscribe scheme.