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A ROS2-Based Gateway for Modular Hardware Usage in Heterogeneous Environments.

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This summary is machine-generated.

This research introduces a middleware solution to simplify robot integration by enhancing modularity and interoperability. The system allows users to select robot payloads and communication methods, optimizing resource use and enabling high-level programming.

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IoRTROS2communicationintegrationinteroperabilitymiddlewaremodularitypayloadsroboticstechnology

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Area of Science:

  • Robotics and Automation
  • Internet of Things (IoT)
  • Middleware Development

Background:

  • Integrating robotics and IoT presents challenges like system compatibility and device interoperability.
  • Traditional robotic designs can exacerbate integration difficulties, highlighting the need for modular solutions.
  • Varying manufacturer approaches increase complexity in adopting new robotic technologies.

Purpose of the Study:

  • To propose a novel middleware solution for simplifying robot integration in diverse environments.
  • To enhance modularity and interoperability between robots and external systems.
  • To accelerate the adoption of integrated robotic and IoT systems.

Main Methods:

  • Development of a Robot Operating System 2 (ROS2)-based middleware, termed the "ROS2-based gateway".
  • Focus on the payload layer to enable external communication and configuration.
  • Implementation of a shell interface for user selection of payloads and communication protocols.

Main Results:

  • The middleware simplifies robot integration by enhancing modularity and interoperability.
  • Users can select and configure desired payloads and communication methods via a shell interface.
  • Optimized hardware resource utilization through activation of only necessary payloads.

Conclusions:

  • The proposed ROS2-based gateway effectively addresses challenges in integrating robots with IoT systems.
  • The middleware enhances flexibility, allowing users to leverage high-level communication protocols.
  • This solution accelerates the integration of physical and digital domains in automated systems.