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Enhancing Robot Control Systems with ROS: Design Insights and Implementation Strategies

This document highlights the contributions of Jonathan Cormier, John Seybold, Jeremy Jensen, and other team members in developing a robust control system for robotic applications using the Robot Operating System (ROS). It discusses customer needs, engineering specifications, and risk assessment in the design process. The main loop functions to optimize data processing by executing commands and polling sensors without waiting for input. The use of thread management for concurrent sensor data collection is also examined, emphasizing efficient system operation.

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Enhancing Robot Control Systems with ROS: Design Insights and Implementation Strategies

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  1. TigerBotComputer Design Jonathan Cormier (CE), John Seybold (CE), Jeremy Jensen (ME), Eric Walkama (ME), Kyle Backer (EE), Matthew DeCapua (EE), Mike Thomas (EE),

  2. Customer Needs

  3. CE Specifications

  4. Risks

  5. Controller

  6. System Control Design

  7. ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license. Software Platform

  8. Main loop functions by performing a command, then checking sensors for new information. • Main loop wont wait on sensors, will instead pull recent data. • Separate process thread will be used to poll sensors and put the data in a shared memory region. Logic Flow

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