Embedded Installation of Robot Operating System on Elbrus-Based Control Platform - High-Reliable Industrial Application

摘要

Robot Operating System (ROS) is widespreading framework allowing researchers to create functional control environments for robotic systems. But one of the main problems connected with ROS installation is its distribution actually snapped almost explicitly to Debian/Ubuntu Linux and their package bases for x86 and ARM architectures. If the embedded proprietary platform is required to be used for creation of the robot (e.a. to work with non-standard hardware interfaces), ROS installation becomes non-trivial task. In this case it requires to build all ROS modules from sources and to integrate the obtained binaries into control system manually. This paper discusses the case of ROS installed and integrated into high-reliable general purpose industrial control platform based on proprietary hardware equipped with Elbrus VLIW (VLIW (Very Long Instruction Word)-CPU architecture that allows to embed set of operations into single machine instruction for assembly-level parallelization) CPU. The advantages of embedded ROS installation, peculiarities of its integration into a robot and licensing issues are also described.