Abstract
The Robot Operating System (ROS) is a commonly used framework in many fields of robotics research, with increasing presence in the industry. The next iteration of this framework, ROS2, aims to improve observed shortcomings of its predecessor like deterministic memory allocation and real-time characteristics. The officially supported languages in ROS2 are C++ and Python, although several other contributed APIs for other languages exist. RCLAda is an API and accompanying tools for the ROS2 framework that enable the programming of ROS2 nodes in pure Ada with seamless integration into the ROS2 workflow.
- M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, "ROS: an open-source Robot Operating System," in ICRA workshop on open source software, vol. 3, p. 5, Kobe, Japan, 2009.Google Scholar
- B. Gerkey, R. T. Vaughan, and A. Howard, "The Player/ Stage project: Tools for multi-robot and distributed sensor systems," in Proceedings of the 11th Int. Conf. on Advanced Robotics, vol. 1, pp. 317--323, 2003.Google Scholar
- Fraunhofer IPA, "ROSin: ROS-industrial quality-assured robot software components." https://rosin-project.eu/. Accessed: 2019-Sep-06.Google Scholar
- S. Edwards and C. Lewis, "ROS-industrial: applying the robot operating system (ROS) to industrial applications," in IEEE Int. Conference on Robotics and Automation, ECHORD Workshop, 2012.Google Scholar
- Open Source Robotics Foundation, Inc, "ROS2 design." http://design.ros2.org/. Accessed: 2019-Sep-06.Google Scholar
- G. Pardo-Castellote, "OMG data-distribution service: Architectural overview," in 23rd International Conference on Distributed Computing Systems Workshops, 2003. Proceedings., pp. 200--206, IEEE, 2003.Google Scholar
- D. Thomas, "Collective construction (colcon)." https://github.com/colcon. Accessed: 2019-Sep-06.Google Scholar
- ROS Index, "Available packages for ROS2 Dashing." https://index.ros.org/packages/#dashing. Accessed: 2019- Sep-06.Google Scholar
- ROS Index, "About ROS2 client libraries." https://index.ros.org//doc/ros2/Concepts/ROS-2-Client- Libraries/. Accessed: 2019-Sep-06.Google Scholar
- A. R. Mosteo and L. Montano, "SANCTA: An ada 2005 general-purpose architecture for mobile robotics research," in International Conference on Reliable Software Technologies, pp. 221--234, Springer, 2007.Google Scholar
Index Terms
(auto-classified)RCLAda, or Bringing Ada to the Robot Operating System
Recommendations
An architecture for multi-robot localization and mapping in the Gazebo/Robot Operating System simulation environment
Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of ...
Robot OS: A New Day for Robot Design
The Robot Operating System promises to make designing robotic software easier and less expensive.






Comments