Web-Based Real-Time Alarm and Teleoperation System for Autonomous Navigation Failures Using ROS 1 and ROS 2

摘要

This paper presents an alarm system and teleoperation control framework, comparing ROS 1 and ROS 2 within a local network to mitigate the risk of robots failing to reach their goals during autonomous navigation. Such failures can occur when the robot moves through irregular terrain, becomes stuck on small steps, or approaches walls and obstacles without maintaining a safe distance. These issues may arise due to a combination of technical, environmental, and operational factors, including inaccurate sensor data, sensor blind spots, localization errors, infeasible path planning, and an inability to adapt to unexpected obstacles. The system integrates a web-based graphical interface developed using frontend frameworks and a joystick for real-time monitoring and control of the robot’s localization, velocity, and proximity to obstacles. The robot is equipped with RGB-D and tracking cameras, a 2D LiDAR, and odometry sensors, providing detailed environmental data. The alarm system provides sensory feedback through visual alerts on the web interface and vibration alerts on the joystick when the robot approaches walls, faces potential collisions with objects, or loses stability. The system is evaluated in both simulation (Gazebo) and real-world experiments, where latency is measured and sensor performance is assessed for both ROS 1 and ROS 2. The results demonstrate that both systems can operate effectively in real time, ensuring the robot’s safety and enabling timely operator intervention. ROS 2 offers lower latency for LiDAR and joystick inputs, making it advantageous over ROS 1. However, camera latency is higher, suggesting the need for potential optimizations in image data processing. Additionally, the platform supports the integration of additional sensors or applications based on user requirements.