Evaluación del desempeño de ROS sobre la plataforma Raspberry Pi como OS para pequeños robots

Abstract

This paper presents the configuration and programming of SERB robot for use in navigation applications, using as hardware support the Raspberry Pi Model B card, and as software the ROS OS Grovvy Galapagos. The need for this application arises from the constant change that has the robotic world in different areas. Because of this, for a specific application it requires a versatile and scalable platform capable of integrating different hardware/software according to the needs. ROS OS aims to be comprehensive and resourceful to synchronize the different robotic platforms in a single client/server environment. To demonstrate the ability of the system, the robotics application designed uses different elements as actuators (servomotors), sensors (proximity sensor), and an external control board (Arduino). The latter is responsible for collecting data (signal conditioning), while the Raspberry Pi board is responsible for making the communication between the three different software environments: Raspbian (communication layer), ROS OS (client/server layer and control) and Arduino (signal conditioning). The navigation task selected for validation includes basic principles of path planning in unknown, static and observable environments.