The R Journal: article published in 2013, volume 5:2

The R in Robotics PDF download
André Dietrich, Sebastian Zug and Jörg Kaiser , The R Journal (2013) 5:2, pages 117-128.

Abstract The aim of this contribution is to connect two previously separated worlds: robotic application development with the Robot Operating System (ROS) and statistical programming with R. This fruitful combination becomes apparent especially in the analysis and visualization of sensory data. We therefore introduce a new language extension for ROS that allows to implement nodes in pure R. All relevant aspects are described in a step-by-step development of a common sensor data transformation node. This includes the reception of raw sensory data via the ROS network, message interpretation, bag-file analysis, transformation and visualization, as well as the transmission of newly generated messages back into the ROS network.

Received: 2013-04-12; online 2013-12-13
CRAN packages: Rcpp , CRAN Task Views implied by cited CRAN packages: HighPerformanceComputing, NumericalMathematics

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  author = {André Dietrich and Sebastian Zug and Jörg Kaiser},
  title = {{The R in Robotics}},
  year = {2013},
  journal = {{The R Journal}},
  url = {},
  pages = {117--128},
  volume = {5},
  number = {2}