Contenido principal del artículo

Gregorio Ambrosio-Cestero
Universidad de Málaga
España
https://orcid.org/0000-0002-1159-0750
Jose Luis Matez-Bandera
Universidad de Málaga
España
https://orcid.org/0000-0003-4123-7330
Jose-Raul Ruiz-Sarmiento
Universidad de Málaga
España
https://orcid.org/0000-0002-9929-5309
Javier Gonzalez-Jimenez
Universidad de Málaga
España
https://orcid.org/0000-0003-3845-3497
Núm. 45 (2024), Robótica
DOI: https://doi.org/10.17979/ja-cea.2024.45.10943
Recibido: jun. 5, 2024 Aceptado: jul. 3, 2024 Publicado: jul. 19, 2024
Derechos de autor

Resumen

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.

Detalles del artículo

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