ROS 2 Control

Integrating the Robot Operating System (ROS) with Android to empower Control Applications for Smartphones

Current 2do

1. Install ROS on MAC OS X
   • Currently not fully supported, many problems appaear, except for the "bare-bones" ROS
   • Possible through VirtualBox and Ubuntu 12 (Precise) an LTS version
2. Install Android SDK / NDK / Studio
   • Android SDK allows developing applications for Android
   • Android NDK allows implementing part of the application in native C or C++
3. Install ROS nodes on Android
   • Access smartphone sensors
   • Send Command signals to the IOIO board
   • Receive incoming signals from the IOIO board
   • Process signals (in native code and compiled controllers)
   • Communicate with other ROS nodes internally
   • Communicate with other ROS nodes in the network
4. Controller in Matlab
   • Write a controller in Matlab
   • Determine the right framework
   • Transform Matlab code to C code
   • Comiple C code for the specific Android smartphone
5. Integrate the IOIO board to an Android Smartphone
   • Determine the easy way to connect a IOIO board to the phone
   • Determine the way to connect sensors and actuators to the IOIO board
   • Send and Receive the right type of signals to the IOIO board through an Android ROS node
6. Diagnostics on ROS 4 Control
   • Identify delay, sampling rate, actuating rate, jitter over different network