We present a toolehain based on Docker and KubeEdge that enables containerization and orchestration of ROS-based robotic SW applications on heterogeneous and hierarchical HW architectures. The toolehain allows for verification of functional and real-time constraints through HW-in-the-loop simulation, and for automatic mapping exploration of the SW across Cloud-Server-Edge architectures. We present the results obtained for the deployment of a real case of study composed by an ORB-SLAM application combined to local/global planners with obstacle avoidance for a mobile robot navigation.

Late Breaking Results: Enabling Containerized Computing and Orchestration of ROS-based Robotic SW Applications on Cloud-Server-Edge Architectures

Aldegheri, Stefano;Bombieri, Nicola;Fummi, Franco;Muradore, Riccardo;Piccinelli, Nicola
2020

Abstract

We present a toolehain based on Docker and KubeEdge that enables containerization and orchestration of ROS-based robotic SW applications on heterogeneous and hierarchical HW architectures. The toolehain allows for verification of functional and real-time constraints through HW-in-the-loop simulation, and for automatic mapping exploration of the SW across Cloud-Server-Edge architectures. We present the results obtained for the deployment of a real case of study composed by an ORB-SLAM application combined to local/global planners with obstacle avoidance for a mobile robot navigation.
978-1-7281-1085-1
Containers
Docker
Kubernetes
ROS
Edge computing
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/1030263
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