University of Twente Student Theses

Login

From prototyping code to standalone running code using ROS

Hoftijzer, D.M. (2019) From prototyping code to standalone running code using ROS.

[img] PDF
6MB
Abstract:The goal of this bachelor assignment is to see what considerations need to be made when making the generated prototyping code from 20-Sim 4C into standalone software. Using 20-Sim 4C, C-code can be generated during development in order to quickly test the developed hard real-time control on the embedded control computer of prototypes. However, this means that the setup of these prototypes is such that the embedded control computer is connected to a development station and thus cannot run standalone. The Robot Operating System (ROS) is used to add soft real-time control and convert the generated prototyping code to standalone software 20-Sim 4C command and control software is replaced by ROS. Communication between ROS and the generated prototyping code is setup by converting the code to a ROS node. Supervisory- and sequence control is added using other ROS nodes. This approach of making the generated prototyping code from 20-Sim 4C standalone, is applied to a case study. In which the working of the approach is shown.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/79766
Export this item as:BibTeX
EndNote
HTML Citation
Reference Manager

 

Repository Staff Only: item control page