Implementation and Performance Study of the Micro-ROS/ROS2 Framework to Algorithm Design for Attitude Determination and Control System

Mamani-Saico A.; Yanyachi P.R. · IEEE Access (2023) · DOI: 10.1109/access.2023.3330441

Resumen

Robot Operating System 2 (ROS2) and Micro-ROS, as advanced robotic platforms, present a potent fusion of versatility, efficiency, and scalability. While ROS 2 continues to evolve with a modular architecture and flexible communication framework, Micro-ROS provides a lightweight and efficient solution tailored for resource-constrained systems. Together, they extend the horizons of robotics across a spectrum of applications, ranging from autonomous robots to highly constrained environments, thus setting a comprehensive standard in the realm of contemporary robotic system development. In this study, we leverage the capabilities of ROS2 and Micro-ROS to realize an experimental platform designed for the development of attitude control algorithms. This platform comprises a dedicated Computer Environment Dedicated to Data Processing (CEDDP) and a module for Attitude Determination & Control System (ADCS). Our investigation entails a measurement of the response time of the CEDDP unit under both exclusive and shared network usage scenarios. Furthermore, we quantify the extent of message loss across three segments during a complete control-task cycle, under various Quality of Service (QoS) configurations. Additionally, we analyze message periodicity at four key points within the ROS2 entities participating in the system. The outcomes of our experimentation reveal a robust experimental platform built upon the ROS2 and Micro-ROS frameworks. Employing a best-effort QoS policy, along with minor adjustments to QoS profiles, emerges as an optimal approach for designing attitude control algorithms.

Instituciones: Universidad Nacional de San Agustín de Arequipa