NDLI: A simulation environment for OpenRTM-aist

Content Provider	IEEE Xplore Digital Library
Author	Chen, I. MacDonald, B. Wunsche, B. Biggs, G. Kotoku, T.
Copyright Year	2009
Description	Author affiliation: Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan (Biggs, G.; Kotoku, T.) \|\| University of Auckland, New Zealand (Chen, I.; MacDonald, B.; Wunsche, B.)
Abstract	Unified testing of multiple heterogeneous robotic software components is a challenging problem and many robotic systems rely on vendor-specific tools for testing and evaluation of individual subsystems. The consequence is often the unexpected interactions between components that arise during system integration. OpenRTM-aist is a distributed software framework that standardises the development of robotic systems while encouraging software reuse and improving the efficiency of the system integration process. The problem is the lack of a well-integrated simulation tool that provides a safe, virtual test environment for evaluating OpenRTM-aist components. This paper presents a simulation environment for OpenRTM-aist. As opposed to creating a built-in simulation tool tied to the OpenRTM-aist architecture, we use an existing general purpose robot simulator, namely Gazebo, because of its modular design and framework independent architecture. We show that by creating an interface layer to Gazebo, robotic systems developed using OpenRTM-aist can be tested in Gazebo simulation without modifications to the underlying software code. In addition, we demonstrate the interoperability between OpenRTM-aist component-based robot systems and Player client programs in achieving a global robot task in the same simulation context.
Starting Page	113
Ending Page	117
File Size	1956964
Page Count	5
File Format	PDF
ISBN	9781424459087
e-ISBN	9781424459070
DOI	10.1109/SI.2009.5384547
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-01-29
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Software testing System testing Service robots Robot Simulation Computer architecture Robot sensing systems Software standards Application software Standards development Intelligent systems Intelligent robots OpenRTM-aist
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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