They are used in applications ranging from simple office software (text, spreadsheet, and
presentation editors) to payroll processing software or even database management software.
Applications written using web technologies are platform-independent, the user only
needs a web browser to access them. Applications created using web technologies can be
deployed anywhere, and some would argue that they are easier to develop.
Robotics is also a rapidly developing field, especially in medical and industrial fields.
One of the many robotics frameworks, that makes it easier to develop robot software,
is the Robotic Operating System. It is also multiplatform and open-source, and it has a
large, active community.
In this thesis, first I give a review on the Robotic Operating System, I describe in
detail how it is constructed, what features it has and how it operates.
Then, I present a robot control system I assembled together that incorporates Robot
Operating System components and components running in a web browser. The system
contains several components that are publicly available and were developed by the ROS
community. However, some parts of the system (e.g. the website) were written by me several different programming languages. The system contains three web applications I wrote.
The system is using a recent web technology, the Websocket protocol to communicate with
the web application.
Using the system, it is possible to control a robot arm using the web applications.
The web applications are capable running on a smartphone. This is even recommended,
because two web application can use the smartphone’s gyroscope to control the robot. In
my thesis, I describe in detail the implementation of this system.
Finally, in this thesis, I measure the difference in network performance between using
Websocket and the communication protocol of ROS, TCPROS.