Entorno basado en contenedores Linux para el desarrollo de aplicaciones robóticas
DOI:
https://doi.org/10.17979/ja-cea.2024.45.10943Palabras clave:
Robotica Inteligente, Robótica conectada, Construcción de mapas, Aprendizaje automático, Sistemas multiagentesResumen
El desarrollo y despliegue de aplicaciones robóticas en investigación involucra desafíos como la gestión eficiente de hardware heterogéneo, especialmente GPUs, o la elaboración de configuraciones software con requisitos incompatibles, por ejemplo, conflictos de librerías y versiones. A menudo, estos problemas se convierten en una limitación para los investigadores, ya que dificultan la colaboración o incluso imposibilitan el desarrollo y despliegue de sus aplicaciones. En este trabajo, se presenta una solución consistente en un entorno basado en virtualización mediante contenedores persistentes de baja latencia, que ofrece plataformas de desarrollo completos, acceso directo al hardware y gestión automática de las comunicaciones, facilitando el desarrollo de aplicaciones robóticas en entornos heterogéneos complejos. El entorno propuesto se valida mediante su implementación real en un laboratorio de robótica. Concretamente, se presenta un experimento consistente en la creación de mapas semánticos con robots móviles, una tarea compleja que ha requerido el uso de contenedores que ejecutan nodos de ROS2 intercomunicados.
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Derechos de autor 2024 Gregorio Ambrosio-Cestero, Jose Luis Matez-Bandera, Jose-Raul Ruiz-Sarmiento, Javier Gonzalez-Jimenez
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
