ROS4iOS

From IntRoLab
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Application's first screen

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Introduction

To use all the functionalities and computing capabilities a mobile device has to offer, developers need to create native applications. ROS is widely used in the robotics community. However, a native port of ROS on iOS has yet to be developed. Having a native ROS port on iOS would allow better integration with existing applications and libraries. Instead of bridging iOS applications with a new protocol with ROS, using native ROS C++ implementation for messages and nodes is desirable. This project aims to create a reusable and easy to use ROS for iOS Framework for use with Apple's Xcode development environment with the following guidelines :

  • Concentrate on the C++ part of ROS' core libraries.
  • Reuse parts of the ROS build system to build an iOS framework.
  • Reuse all the communication protocols, messages and services available from ROS.
  • Create a complete ROS node running on the mobile device by reusing the same C++ code.
  • Start from ROS sources hosted on GitHub and apply minimum patches to allow compilation for iOS.
  • Automate the creation of a reusable ROS framework for use with Apple's Xcode development tool.

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Introduction

Pour utiliser toutes les fonctionnalités et capacités de calculs que possède un dispositif mobile, les développeurs doivent créer des applications natives. ROS est largement utilisé dans le domaine de la robotique. Cependant, aucun portage natif de ROS sur iOS n'a été effectué. Un portage de ROS sur iOS permettrait une meilleur intégration avec les applications et librairies existantes. Ce projet a donc pour but de créer un framework pour iOS de ROS facile à utiliser avec l'environnement de développement Apple. </french> <english>

Authors

  • Ronan Chauvin
  • François Ferland
  • Dominic Létourneau

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Auteurs

  • Ronan Chauvin
  • François Ferland
  • Dominic Létourneau

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Publications

  • Ferland, F., Chauvin, R., Létourneau, D., Michaud, F. (2014), “Hello Robot, can you come here? Using ROS4iOS to provide remote perceptual capabilities for visual location, speech and speaker recognition,” Proceedings International ACM/IEEE Conference on Human-Robot Interaction. (pdf) (mp4)

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ROS for iOS on GitHub

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ROS for iOS sur GitHub

  • Code source disponible sur GitHub.

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Xcode project - Apple ROS Framework for iOS - C++ (ROS) and Objective-C (iOS) code