Development of ROS(Robotic Operating System) for Fault Detection of Underwater Cables
Yogesh Kisan Mali, Vijay U. Rathod, Sweta Dargad, Vaishali Narendra Kapure, Nishigandha Vyawahare, Swati Gajarlewar
Abstract
In this paper, an open-source robot operating system called ROS is introduced. Unlike a traditional operating system that handles scheduling and process management, ROS provides a structured communication layer on top of the host operating system to facilitate communication among heterogeneous computing clusters. This paper explains how ROS can be leveraged to control objects remotely and safely like cars without human intervention. Additionally, the document outlines how ROS fits into the current robot software architecture and how it can be utilized for AUVs. The paper also presents a solution to inspect underground and underwater optical cables using a robotic operating system. To implement this solution, Ubuntu OS is virtually installed using VMWare Workstation, and ROS packages, including the ROS-Gazebo toolbox, are installed. The software is being tested using standard inputs, with light radiation used as the primary factor to assess the condition of the optical cable.