ROS methodology to work with non-ROS mobile robots: Experimental uses in mobile robotics teaching

Abstract

This paper presents a robotics platform for experimental and teaching purposes that allows control and remote access by using plain sockets (regular TCP/IP sockets) and websockets respectively. The system has been built from ROS middleware (Robot Operating System) and is capable of controlling multiple user operations. The robot hardware connected to sensors or/and actuators does not support ROS due to its features. This article focus attention on describing a work methodology to establish communication of the non-ROS robotic platforms and ROS.