Reconstruction Of ROS Open-source Software On Windows

With the development of scientific and technological progress and social needs, mobile robot research has attracted much more attention. In recent years, the demand for code reuse and modular code is becoming stronger in the field of the research and development of mobile robot. ROS robot operating system came into being, it is a Linux-based operating system for robots. Because of the characteristics of distributed processing and the purpose of open source and cooperation, it has made outstanding achievements in the field of robotics research.Based on the fully research on the open-source resources of ROS robot operating system, this paper proposed an idea of robot operating system modular design based on Windows. By translating the ROS open-source robotics application package, the researc h mentality and results can be used more efficiently and the reconstruction of the corres ponding functions on Windows operating system can be completed.In this study, a representative example of ROS open-source is selected. Firstly, the differences of Linux operating system and Windows operating system are analyzed, the implementation method of transplantation is given, and the study on the construction principle of raster maps is conducted. Secondly, the instance package map built by movi ng robot SLAM is analyzed, and three open-source packages, those are environmental data acquisition, coordinate transformation and map building, are analyzed and shown. Finally, the implement method of reconstructing this instance on Windows operating system is proposed, the implement method is proposed from these aspects, and the concl usion of the research is obtained ultimately.Given the differences between Windows operating system and Linux operation system, the implementation method of map building reconstruction on Windows is proposed as:written by our own, direct imheritance and transplantation inheritance.(1)Written by our own:For parts of ROS unique header files and communication mechanisms called by program, this part of reconstruction can only take the method of written by our own.(2)Direct inheritance:Some programs have the corresponding version of Windows and Linux, which program need only a little adjustment instead of translation,then we can achieve the same function..(3)Transplantation inheritance:Some additional C program library functions, including the realization of unifying user interface, file status interface and files control interface, are provided in Linux operating system. The programs which were called in the specific function library of Linux operating system could not be used in Windows operating system, but transplantation inheritance can be achieved by searching alternative function on Windows operating system.This paper gives the implementation method of examples of map based on ROS reconstruction on Windows operating system. With the further research, Windows robot modular design provides the basis for the development of robots for Windows operating system.