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Building REST APIs for the Robot Operating System - Mapping Concepts and Interaction

Keppmann, Felix Leif; Maleshkova, Maria; Harth, Andreas

Abstract:
The vision of the Web of Things (WoT) aims to leverage Web standards in order to interconnect all types of embedded devices and real world objects, and thus to make them a part of the WWW. Therefore, WoT aims to build a future Web of devices that is truly open, flexible, and scalable. We aim to contribute towards achieving this goal by relying on existing and well-known Web standards used in the programmable Web (e.g., URI, and HTTP) and the semantic Web (e.g., RDF), in order to enable the Web integration of Robot Operating System (ROS) devices. In particular, we motivate the problem of integrating ROS devices in Web environments, elaborate on the integration potential, and describe specific application examples. We provide a mapping between ROS and REST concepts and interaction primitives. In addition, we show how REST is capable to enhance a mapping of the ROS architecture in terms of complex resources and hypermedia. The contributions described in this paper pave the way towards realising a WoT, where ROS devices can be easily accessed and directly integrated by using standard Web technologies, without additional custom implementation effort or having to add intermediate communication layers.

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Verlagsausgabe §
DOI: 10.5445/IR/1000092931
Veröffentlicht am 18.04.2019
Scopus
Zitationen: 1
Coverbild
Zugehörige Institution(en) am KIT Institut für Angewandte Informatik und Formale Beschreibungsverfahren (AIFB)
Publikationstyp Proceedingsbeitrag
Jahr 2015
Sprache Englisch
Identifikator ISSN: 1613-0073
KITopen-ID: 1000092931
Erschienen in SALAD 2015- Services and Applications over Linked APIs and Data, Proceedings of the Third Workshop on Services and Applications over Linked APIs and Data, co-located with the 12th Extended Semantic Web Conference (ESWC 2015), Portorož, Slovenia, June 1, 2015. Ed..: M. Maleshkova, R. Verborgh, S. Stadtmüller
Verlag RWTH, Aachen
Seiten 10-19
Serie CEUR Workshop Proceedings ; 1359
Nachgewiesen in Scopus
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