Development of network communication system using ROS

• Main Author: Winata, Steven Edbert
• Other Authors: Xie Ming
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Mechanical engineering::Robots
• Online Access: https://hdl.handle.net/10356/172815
• Institution: Nanyang Technological University

This project is dedicated to the advancement of autonomous navigation for Unmanned Surface Vehicles (USVs) by developing a comprehensive network communication system leveraging the Robot Operating System (ROS). The primary objective is to establish a robust system capable of handling both wired and wireless data transmissions to enhance the operability and real-time responsiveness of USVs, with a specific application in the RobotX competition. The scope of the project involved designing a network infrastructure tailored to the competition's unique tasks, implementing a user-centric graphical user interface (GUI) for effective module interaction, executing extensive GUI simulations to test system efficacy, and identifying avenues for progressive enhancements. The culmination of the project has seen the realization of these goals, with the successful deployment of a specialized network structure and a functional GUI, corroborated by simulation results. In addition, the project has set the stage for future improvements, including the transition to ROS 2 for enhanced system architecture, augmentation of the GUI for increased message visibility and node status monitoring, and the development of a resilient hardware housing with a reliable power supply