eSEATを用いたOpenRTM－ROS連携機能について

抄録

The ‘eSEAT component’ was originally developed as a dialogue control component based on a finite state machine with RT-Middleware. A behavior of this component will be defined by a simple rule file called ‘SEATML’ and support several communication middleware such as RTM, ROS, ROS2, HTTP and a normal raw socket port. In this paper, I introduce an overview of the eSEAT and discuss about a collaborative function between RT-Component and ROS Node by using the eSEAT component. By using such functions, it could be expected to realize an efficient system integration with software modules implemented in different frameworks or middleware.