Komunikacija z robotskim krmilnikom na osnovi algoritma COBS

Jelenčič, Miha (author), Vrabič, Rok (mentor)

V zaključni nalogi je predstavljena komunikacija med mikrokrmilnikom in računalnikom preko ogrodja ROS. Vzpostavljeni in preverjeni sta bili dve možnosti, in sicer ROSSerial ter COBS. Najprej so predstavljene teoretične osnove obeh komunikacijskih orodij, strojne opreme ter ROS-a. V nadaljevanju je predstavljeno delo in potek vzpostavljanja povezave. V primerjavi obeh komunikacijskih opcij preko brezžične povezave je bilo ugotovljeno, da na mikrokrmilnikih COBS deluje bolje.

• Language: Slovenian
• Keywords: mikrokrmilniki, Robotski operacijski sistem (ROS), ROSSerial, konsistenten presežek odvečnih bajtov (COBS), brezžična komunikacija
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [M. Jelenčič]
• Year: 2020
• Number of pages: XII, 29 f.
• PID: 20.500.12556/RUL-119751
• UDC: 004.451:004.451.62(043.2)
• COBISS.SI-ID: 30653955
• Publication date in RUL: 11.09.2020

Secondary language

• Language: English
• Title: COBS algorithm for communication with robot controller

Abstract

In this dissertation, we present communication between microcontroller and computer over ROS framework. Two options were established and tested, namely ROSSerial and COBS. At first we explained theoretical basis of both communication tools, hardware and ROS. Then the work done on communication packages and on establishing communication is presented. In comparison of both protocols over wireless connection, we found out, that on microcontrollers COBS works better.

• Keywords: microcontrollers, Robot Operating System (ROS), ROSSerial, Consistent overhead byte stuffing (COBS), wireless communication