ROBOT SERVOSILA ENGINEER: DEVELOPMENT OF VIDEO STREAMING SERVER AND CONTROL system GUI FOR ROS FRAMEWORK
This paper presents the development of software for control and video streaming from the cameras of Russian crawler robot Servosila Engineer. The technical characteristics of the robot, the characteristics of its operating system, the built-in API and software of the robot, a data protocol for controlling the robot and its telemetry are presented in the article. A user can control the robot without using the joystick with the developed software. The developed software consists of a remote control library and a graphical user interface (GUI) for the robot control. This library supports work with robot operating system ROS. The paper describes the developed software modules and their interactions and describes in detail the architecture of the remote control library. For correct control of the robot from the ROS framework, commands for controlling the robot should be submitted to the SI system. There are a series of experiments of calculating the transformation parameters of the linear and angular velocities. ROS-program allows you to remotely use the robot, which is planned to be used in the autonomous route-planning mode of the robot and its use in tasks of autonomous simultaneous localization and mapping (SLAM). ROS package was created that allows to independently capture video from 4 different cameras of the robot. The configuration and acquisition of the initial data from the cameras is carried out using V4L2 (Video for Linux 2) library. The method of projecting device buffers into application memory increased performance by eliminating unnecessary copying. Created package is compared with an existing package based on OpenCV. The created package works with various image formats and does not depend on OpenCV. Based on the results of experimental comparisons of software libraries under different operating conditions, conclusions are drawn about a significant reduction in CPU load when using the developed package.