ROS Perihpheral Interface

Introduction of the Training:

The ROS (Robot Operating System) periphery interface enables fast swapping of exchangeable peripheral elements in a robotic workcell. It ensures ROS communication between the peripheral elements and the ROS backbone of the workcell.  It acts as a proxy between the ROS-based workcell and exchangeable elements of the cell without ROS capabilities.  This training presents the components of the module, installation procedure, and example implementations of standard exchangeable modules.  Specific software instructions are given.  Instructions for a general hardware components are hard to give, as the peripheral elements can vary substantially.  Instead, a general overview is provided with two example implementations presented.

Key Users/Stakeholder:

This training is intended to participants from an industrial background. The participants want to integrate some swappable peripheral hardware into an already existing ROS-based modular system.


ROS enabled backbone, Raspberry Pi micro-computer, Linux computer, Network connection, various optional components. The software intended for the ROS periphery interface in open-source under a three-clause BSD license and can be obtained by contacting JSI.

Introduction to the module

Training Part 1 –> Integrator version tutorial