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Connecting ROS and FIWARE: Concepts and Tutorial

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Collection title
Studies in Computational Intelligence
Dewey
Informatique générale
Sujet
Tutorial ROS FIWARE firos
DOI
http://dx.doi.org/10.1007/978-3-319-91590-6_13
Book title
Robot Operating System (ROS) : The Complete Reference (Volume 3)
Author
Koubaa, Anis
Publisher
Springer
Publisher city
Cham
Year
2018
Pages number
605
ISBN
978-3-319-91590-6
Book URL
10.1007/978-3-319-91590-6
URI
https://basepub.dauphine.fr/handle/123456789/20812
Collections
  • Projet ACCRA
Metadata
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Author
Limosani, Raffaele
504313 BioRobotics Institute of Sant'Anna [Pisa]
Manzi, Alessandro
504313 BioRobotics Institute of Sant'Anna [Pisa]
Fiorini, Laura
504313 BioRobotics Institute of Sant'Anna [Pisa]
Dario, Paolo
504313 BioRobotics Institute of Sant'Anna [Pisa]
Cavallo, Filippo
504313 BioRobotics Institute of Sant'Anna [Pisa]
Type
Chapitre d'ouvrage
Item number of pages
449-475
Abstract (EN)
Nowadays, the Cloud technology permeates our daily life, spread in various services and applications used by modern instruments, such as smartphones, computer, and IoT devices. Besides, the robotic field represents one of the future emerging markets. Nevertheless, these two distinct worlds seem to be very far from each other, due to the lack of common strategies and standards. The aim of this tutorial chapter is to provide a walkthrough to build a basic Cloud Robotics application using ROS and the FIWARE Cloud framework. At the beginning, the chapter offers step-by-step instructions to create and manage an Orion Context Broker running on a virtual machine. Then, the firos package is used to integrate the ROS topic communication using publishers and subscribers, providing a clear example. Finally, a more concrete use case is detailed, developing a Cloud Robotics application to control a ROS-based robot through the FIWARE framework. The code of the present tutorial is available at https://github.com/Raffa87/ROS_FIWARE_Tutorial, tested using ROS Indigo.

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