Design And Implementation Of ROS-based Cloud Robotic Software Platform With The Microservices Architecture

With the progress of the research in machinery,sensing,electronics,control and artificial intelligence,robotics technology has been developing dramatically,and Chinese robotics market has also entered a period of rapid growth.At present,industry robots have been widely used in the production of chemical,electronics,logistics and other industrial fields.Service robots represented by household sweeping robots have gradually entered the life and vision of the public.However,the following problem is that robots' local resources cannot meet people's needs for various functionalities.As a result,cloud robotics that can use cloud computing technology as computing infrastructure has become a research topic worth studying.Drawing lessons from the numerous opportunities brought by the smartphone industry,this article envisions the popularity of cloud robots in the future and proposes a cloud robotic software platform architecture scheme for ordinary users.The paper refers to the ROS robot software development framework and the microservices software architecture style,using the correlation between them as a starting point.Besides,with the help of container technologies,ROS nodes can be migrated to the cloud computing environment,achieving the out-of-the-box and on-demand deployment of robot software.Under the guidance of microservices architecture style,the microservices architecture design of a ROS based cloud robotic software platform is proposed,which innovatively integrates the idea of ROS distributed architecture.And the concepts of service instances,service agents,and public services are given,retaining the features and advantages of ROS.In order to verify the feasibility of the platform architecture,the paper specifically designs and implements a platform prototype to provide three basic robot software functionalities: SLAM,autonomous navigation and face detection.At the same time,taking this prototype as an example,the thinking and process of converting ROS applications into platform software functionalities are described in detail,and the RESTful style is used to interpret the resourceization of robot software functionalities.In addition,adhering to the principle that separates front end from back end in the microservices architecture design principles,the paper uses Angular framework to build a Web application as an interactive interface between the user and the prototype.To facilitate the user's operation and be a friendly user interface,a design scheme is given and introduced for the frontend view.Finally,based on the built client Web application,functional tests are performed on the three robot software functionalities provided by the prototype,which verifies that these functionalities meet the basic application requirements and indirectly demonstrates the feasibility of the overall architecture design.