AUTHOR=Randazzo Marco , Ruzzenenti Andrea , Natale Lorenzo 

TITLE=YARP-ROS Inter-Operation in a 2D Navigation Task

JOURNAL=Frontiers in Robotics and AI

VOLUME=Volume 5 - 2018

YEAR=2018

URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2018.00005

DOI=10.3389/frobt.2018.00005

ISSN=2296-9144

ABSTRACT=This work presents some recent developments in YARP middleware, aimed to improve its integration with ROS. They include a new mechanism able to read/write ROS frame transforms and a new set of standard interfaces to %perform navigation tasks and
intercommunicate with ROS navigation stack. 

A novel set of YARP companion modules, which provide basic navigation functionalities for robots unable to run ROS, is also presented. These modules are optional, independent from each other and provide compatible functionalities to well-known packages available inside ROS framework.

The paper also discusses how developers can customize their own hybrid YARP-ROS system in the way it best suits their needs (e.g. the system can be configured to have a YARP application sending navigation commands to a ROS path planner, or vice-versa). A number of available possibilities is presented through a set of chosen test-cases applied to both real and simulated robots.

Finally, example applications discussed in this paper are also made available to the community by providing snippets of code and links to source files hosted on github repository \href{https://github.com/robotology}{https://github.com/robotology}.