宇宙機上でのROSアプリケーションの利用に向けて

抄録

This paper presents the space robotics software platform that developers can easily build own Robot Operating System (ROS) program. We newly created “ROS/cFE interface” and “CFS convertor”. In the platform, “ROS/cFE interface” makes for ROS applications to be deployed and run on reliable spacecrafts middleware core Flight Executive (cFE) developed by GSFC/NASA. “CFS convertor” automatically translates ROS source files and makes them compatible with cFE libraries without complex and time-consuming porting task. We test the platform on Linux, and confirm that there are no significant differences in the operations of ported applications between on ROS and on cFE.