Provision of Remote Management Infrastructure for RT Systems using Mosquitto MQTT Message Broker

摘要

RTSystemEditor is the main standard management tool for RT systems on OpenRTM-aist. It is very easy for beginners to use the tool because it has GUI. However, it takes time from startup of the editor to activation of RT systems. Thus the tool has both merits and demerits for users. Moreover, it is very difficult to manage multiple RT systems distributed on the internet by using the tool. In this study, we developed a remote management infrastructure for robot systems and adjusted it to RT systems. The infrastructure is based on Mosquitto which is one of the MQTT messaging middleware. Mosquitto has some special features to easily construct Web services. Therefore, under the proposed infrastructure, developers can make good use of RT systems more simply through the internet.