Robot Service Experiments by Informationally Structured Architecture ROS-TMS4.0

Abstract

This paper presents the service robot system based on informationally structured environment named ROS-TMS that supports a robot to provide services to human. The development of the system was started in 2005 in the project named Robot Town Project, and recently we launched a new version named ROS-TMS4.0, which enables to utilize the high scalability and a plenty of resources of ROS. In this paper, we introduce the newly implemented extensions in ROS-TMS4.0 and the service provide experiments using the proposed system.