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ROSSi A Graphical Programming Interface for ROS 2
Constantin Wanninger,Sebastian Rossi,Martin Schorner,Alwin Hoffmann,Alexander Poeppel,Christian Eymueller,Wolfgang Reif 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The Robot Operating System (ROS) offers developers a large number of ready-made packages for developing robot programs. The multitude of packages and the different interfaces or adapters is also the reason why ROS projects often tend to become confusing. Concepts of model-driven software development using a domain-specific modeling language could counteract this and at the same time speed up the development process of such projects. This is investigated in this paper by transferring the core concepts from ROS 2 into a graphical programming interface. Elements of established graphical programming tools are compared and approaches from modeling languages such as UML are used to create a novel approach for graphical development of ROS projects. The resulting interface is evaluated through the development of a project built on ROS, and the approach shows promise towards facilitating work with the Robot Operating System.