Software

Selecting a robotics software framework is a mandatory task, if one wants to use as much preexisting knowledge and technology as possible. Among several options the Robot Operating System (ROS) as main framework was selected, because of its built-in publish-subscribe mechanism, a thriving community and a detailed documentation together with an open source license. ROS’ use in several well-known research projects is just a small hint to the leading-edge software paradigms and application programmin interface (API) of the framework. This also makes it an ideal choice for education purposes as students get a deeper insight on the inner workings of a robot. The publish-subscribe nature of ROS on the other hand enables it to easily distribute key development tasks among the students. For this purpose at first key tasks have been identified which could easily be put into separate so-called ROS packages. For many of these tasks there are already standard packages existing in the ROS framework which are adapted to work with SEAR.

Description of software architecture and task planning coming soon…