The aim of this contribution is to connect two previously separated worlds: robotic application development with the Robot Operating System (ROS) and statistical programming with R. This fruitful combination becomes apparent especially in the analysis and visualization of sensory data. We therefore introduce a new language extension for ROS that allows to implement nodes in pure R. All relevant aspects are described in a step-by-step development of a common sensor data transformation node. This includes the reception of raw sensory data via the ROS network, message interpretation, bag-file analysis, transformation and visualization, as well as the transmission of newly generated messages back into the ROS network.
HighPerformanceComputing, NumericalMathematics
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For attribution, please cite this work as
Dietrich, et al., "The R Journal: The R in Robotics", The R Journal, 2013
BibTeX citation
@article{RJ-2013-032,
author = {Dietrich, André and Zug, Sebastian and Kaiser, Jörg},
title = {The R Journal: The R in Robotics},
journal = {The R Journal},
year = {2013},
note = {https://doi.org/10.32614/RJ-2013-032},
doi = {10.32614/RJ-2013-032},
volume = {5},
issue = {2},
issn = {2073-4859},
pages = {117-128}
}