Korisničko sučelje za rad s heterogenim robotskim sustavom HEKTOR u vinogradu

master's thesis

• Title (english): User interface for working with the heterogeneous robotic system HEKTOR in the vineyard
• Author: Tomislav Batarilo
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U okviru ovog rada osmišljeno je grafičko sučelje za upravljanje robotom koristeći rosbridge protokol. Sučelje je implementirano kao web aplikacija razvijena u Reactu koristeći HTML, CSS i Javascript. Rosbridge protokol povezuje web sučelje i ROS tako što JSON poruke, koje su široko prihvaćen format za prijenos podataka, mapira u ROS poruke i omogućuje njihovu međusobnu komunikaciju. Funkcionalnosti koje su implementirane su upravljanje robotom, dohvat informacija od robota, prikaz mape po kojoj se robot kreće i mogućnost zadavanja cilja unutar mape. Također, web sučelje je povezano s google maps sustavom i nudi mogućnost izračuna površine označenog poligona i nadmorske visine što će se koristiti za konfiguriranje parametara sustava.

Abstract (english)

Within this paper, a graphical interface for managing robot was designed using rosbridge protocol. The interface is implemented as a web application developed in React using HTML, CSS and Javascript. The Rosbridge protocol connects the web interface and ROS by mapping JSON messages, which are a widely accepted data transfer format, into ROS messages and allows them to communicate with each other. The functionalities that have been implemented are moving robot with joystick, retrieval of information from the robot, display of the map on which the robot is moving and the possibility of setting a target within the map. Also, the web interface is connected to the google maps system and offers the possibility of calculating the marked area and altitude which will be used to configure the system parameters.

• Keywords: Web sučelje; ros; rosbridge; json; robot web tools; websocket; JSON web token; roslibjs
• Keywords (english): Web interface; ros; rosbridge; json; robot web tools; websocket; JSON web token; roslibjs
• Language: croatian
• URN:NBN: urn:nbn:hr:168:584207
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 14:30:28