ROS 2 Control
Integrating the Robot Operating System (ROS) with Android to empower Control Applications for Smartphones
Current 2do
- 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
- 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++
- 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
- 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
- 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
- Diagnostics on ROS 4 Control
- Identify delay, sampling rate, actuating rate, jitter over different network
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