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This paper discusses the development of robot motion generation interfacebetween a real-time software architecture and a non-real-time robot operatingsystem. In order for robots to execute intelligent manipulation or navigation,close integration of high-level perception and low-level control is required.However, many available open-source perception modules are developed in ROS,which operates on Linux OS that don't guarantee RT performance. This can leadto non-deterministic responses and stability problems that can adversely affectrobot control. As a result, many robotic systems devote RTOS for low-levelmotion control. Similarly, the humanoid robot platform developed at KAIST,Hubo, utilizes a custom real-time software framework called PODO. Although PODOprovides easy interface for motion generation, it lacks interface to high-levelframeworks such as ROS. As such, we present a new motion generation interfacebetween ROS and PODO that enables users to generate motion trajectories throughstandard ROS messages while leveraging a real-time motion controller. With theproposed communication interface, we demonstrate series of manipulator tasks onthe actual wheeled humanoid platform, M-Hubo. The overall communicationinterface responsiveness was at most 27 milliseconds.

Motion Generation Interface of ROS to PODO Software Framework for Wheeled Huamanoid Robot