Robotic Operating System
Mohammad Reza Karimi Dastjerdi
Spring 2014
An Introduction to
Table Of Contents
2
• Introduction
• Solution
• What’s ROS?
• Supported Operating Systems And Robots
• Why ROS?
• History
• Concepts
• Tools
• Rqt
• ROS Network
• Rviz
• Gazebo
• An Example
• ROS Community
• ROS , After Five Years
• Article
• References
Introduction
3
Solution
4
What’s ROS?
5
• collection of software frameworks for robot software development
• providing operating system-like functionality
hardware abstraction
low-level device control
message-passing between processes
package management
Applications
Application Building Blocks
System Software
Hardware Hardware
ROS
Robotics Applications
Supported Operating Systems And Robots
6
Supported:
Experimental:
Robots:
PR2Husky
TurtleBot Kobuki
Dr. Robot Jaguar V4
Why ROS?
7
• A Distributed, Modular Design
• A Vibrant Community
• Permissive Licensing
• A Collaborative Environment
• Integrated with :
8
Is Ros For Anyone?
Yes , It is!
History
9
• May 1, 2007 — September 1, 2007 - Switchyard at Stanford• November 1, 2007 - ROS at Willow Garage• January 1, 2009 - ROS 0.4 Release• January 22, 2010 - ROS 1.0• March 1, 2010 - ROS Box Turtle Release• June 29, 2010 - 11 PR2s Ship to Beta Program Recipients• August 3, 2010 - ROS C Turtle Release• February 15, 2011 - ROS Answers Debuts• March 2, 2011 - ROS Diamondback Release• April 18, 2011 - TurtleBot Launch• August 30, 2011 - ROS Electric Emys Release• April 23, 2012 - ROS Fuerte Release• September 17, 2012 - Rethink Robotics Releases Baxter• December 31, 2012 - ROS Groovy Galapagos Release• February 11, 2013 – ROS moves to the Open Source Robotics Foundation• March 20, 2013 - ROS-Industrial Consortium kicks off• September 9, 2013 – ROS Hydro Medusa Release
Concepts
10
• Node
• Message
• Publisher/Subscriber
• Service
Node A Node B/topic
Publisher Subscriber
Node A Node B
/Request
Server Client
/Response
Tools
11
• Rqt
• Ros network
• Rviz
• Gazebo
Rqt
12
• software framework of ROS
• implements the various GUI tools
ROS Network
13
• ROS is a distributed computing environment
Rviz
14
• 3D visualization tool
Gazebo
15
• multi-robot simulator
An Example
16
ROS Community
17
ROS , After Five Years
18
Article
19
• Community-Driven Development of Standard Software Modules for Search and Rescue Robots
In: Proceedings of the 10th IEEE International Symposium on Safety Security and Rescue Robotics , 2012
References
• JasonM. O’Kane, “A Gentle Introduction to ROS”
• Aaron Martinez ,Enrique Fernández, “Learning ROS for Robotics Programming” Published by PacktPublishing Ltd.
• Morgan Quigley, Brian Gerkeyy, Ken Conleyy, Josh Fausty, Tully Foote, “ROS: an open-source Robot Operating System” , Computer Science Department, Stanford University, Stanford, CA
• www.ros.org
• http://en.wikipedia.org/wiki/Robot_Operating_System
• http://www.gkmm.tu-darmstadt.de/rescue/
• http://gazebosim.org/wiki/Overview
• http://en.wikipedia.org/wiki/BSD_licenses
20
21
Any Question?
Thank You!
22
This presentation is available on : www.kn2c.ir