A Bridge for Communication Between Robot Operating System (ROS) and Joint Architecture for Unmanned Systems (JAUS) Architectures

Researchers: Alex Warren, Ethan Rabb, PJ Morley

Abstract: This project proposes the creation of a ROS and JAUS interface to allow the CATVehicle to use ROS-compatible sensors, simulators, other packages. Currently, rudimentary third-party interfaces exist to run JAUS components within a ROS node, but there are no open-source implementations of a customizable bridge for two-way communication between the two architectures. This project uses a model-based design approach to generate JAUS components that are capable bidirectional communication between JAUS components and ROS nodes, including converting to and from JAUS messages and ROS topics. The success of this project will greatly expand the functionality of JAUS-compliant systems to include open source components and allow for the faster development of future experiments. The added compatibility between ROS and JAUS will also allow for the verification and potentially the circumvention of JAUS-based simulators currently used with the CATVehicle.

Keywords: JAUS, ROS, software synthesis, simulation, machine learning.