ScholarWorks@성균관대학교

초록

This paper presents real-time monitoring, teleoperation, and autonomous navigation control using external human-machine interfaces such as web and mobile applications, along with latency measurements in robotic systems based on ROS 1 and ROS 2. The study evaluates data transmission performance for various sensor and control signals, including LiDAR, RGB camera images, odometry data, and velocity commands, under three scenarios: intra-ROS communication, web-based interaction, and mobile app usage. Experiments were conducted in both simulated environments using Gazebo Classic and Ignition and on real hardware using TurtleBot 3, over local and global networks. Results show that ROS 2 exhibits lower latency compared to ROS 1, and that latency increases when interacting through mobile applications or across global networks, highlighting the influence of device capabilities and communication overhead. Timestamp-based latency measurements were performed using rosbridge, with synchronized clocks in both simulation and real hardware. Initial tests revealed that transmitting high-bandwidth data such as camera streams over rosbridge WebSocket caused significant latency in global networks due to message queuing. To address this, flow control was implemented on the client side by reducing the camera data subscription rate. This work provides practical insights into interface design, system architecture, and communication trade-offs in ROS-based robotic platforms. The experiment video is available at the following link: https://youtu.be/PcFoxXZFZgI.

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