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Rowma: A Reconfigurable Robot Network Construction System

Rowma is a framework for ROS-based robots that can form a robot network easily.

The key features are below:

  • Execute a rosrun/roslaunch command over the Internet
  • Send a rostopic over the Internet
  • Distribute SDKs to develop an application
  • Send a rostopic among an application and a robot or between robots
  • Integrate a robot easily
  • Reconfigurate robot nodes easily

This video shows an example of controlling a wheeled robot over the Internet from a smartphone.

Getting Started

There are 2 steps to connect your robot to Rowma network.

First, clone rowma_ros into your ROS workspace from the GitHub repository (we are planning to upload it to apt repository).

python <(curl "https://raw.githubusercontent.com/rowma/rowma_ros/master/install.py" -s -N)

Second, run the node.

Note that your robot will connect to the default public network for test use.

$ roscore
$ rosrun rowma_ros rowma

rowma-ros-screenshot

You would see the output of Your UUID is: xxxxxx-xxxxxx-xxx-xxx after your robot successfuly connects to the network. That is your robot's UUID to connect.

The next step is operating the connected robot over the Internet. Open https://rowma.github.io/public-console.

rowma-public-console

First, select the robot's UUID from the select box and push the Connect button. After that, you can see a list of rosrun/roslaunch commands in a select box.

Finally, you can push Run button after select a command.

Acknowledgement

This software is maintained as a part of research in the Cloud Robotics field.

System Architecture →