ROS Extension of Blue-Sky web based development environment for IoT

Abstract

We extended Blue-Sky web-based development environment for distributed embedded systems that we developed to support Robot Operating System (ROS) robotic framework. ROS is built on publish/subscribe messaging model that is different from Blue-Sky. To solve the problem, we extended Blue-Sky in order to handle publish/subscribe message from ROS to Blue-Sky. ROS-Blue-Sky proxy runs as a ROS node to collect the messaging data from roscore in order to monitor and trace the access data of the Blue-sky and ROS mixed environments. As a result of the proxy extension, we can conveniently use the ROS feature from Blue-Sky nodes, trace and monitor the Blue-Sky and ROS nodes, and visualize the status in a web browser with a low overhead of the proxy.