| Affected by lots of factors, the robotic industry is still a relatively closed field. Different companies have different hardware platforms and different developmente environments. What is worse, products from different companies cannot be mutually used. Which restricts the development of robotic industry. Inspried by the prosperity of PC insustry, companies and researchers are trying to deploy the idea of modularization to boost the robotic industry. The Chinese goverment has founded a series of projections to support the modularization of robotic industry in China. Actually, this thesis is a sub-topic of the “863 Program”, the research on middleware for edutional and entainmental robots. One of the objections of the projection is to design and develop an online developing and testing platform for applications of edutional and entainmental robots. The main subject of this thesis is to detail the designing and implementation of the online simulation module of the platform.The online simulation module allows users watching the action of a robot controlled by the application. The module can be roughtly classified into two parts: the front-end and back-end. The front-end is some web pages for users to configure their settings and watch their results. The back-end is used to analyize the codes, and transfer the codes to corresponding hardware messages, and publish messages to the simulation server. The front-end can request data which characterize the current state of robot from the simulation server. In general, this thesis foucuses on the following works:1. After studying the most popular robotic operating systems(ROS) and middleware platforms. Player/Stage is selected as the basic software of our system,where Player is a interface set of ROS, and Stage is a local simulation tool.2. Two abstrctions are performed. One is that between user application and Player/Stage. The other is that between Player/Stage and the hardware. We name the first as Proxy and the second one as Driver. The Proxy and Driver are the main componets of our online simulation platform. By using them, a single copy of code can be used for both running and simulation.3. A weblizaed Stage, WebStage, is designed and achieved in this thesis. Which allows users developing and simulating their own applications without installing Player/Stage on their local machine. This work is a frontal one according to recent literature.4. A website is developed by using LAMP, and an HttpServer is achieved for communication between the webpage and WebStage. |
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