Preliminary Study on Cooperating Tools between R-env and ROS

Abstract

Recently, robot middlewares such as ROS are frequently used to develop robot software. However, it is difficult for service developers who aren't familiar with lower layer technology of robots to develop service scenarios by using ROS. We propose cooperating tools between R-env and ROS. R-env is a scenario editor for services which control multiple robots and IoT devices. The features of R-env are that developer can develop and execute service scenarios on web browser to create state transition diagrams with intuitive handling. We verified that personal mobility robot service, which is a use case of robot service, can be developed easily by using proposed system.