ROS: Robot Operating System

for
AGV KGP
by
Jit Ray Chowdhury

Table of Contents
What is ROS?.......................................................................................................................................4
What is ROS not..............................................................................................................................4
ROS Distributions............................................................................................................................4
ROS and its components......................................................................................................................5
ROS Core.........................................................................................................................................5
ROS Stacks & Packages..................................................................................................................5
Packages......................................................................................................................................5
Nodes...............................................................................................................................................5
Build System....................................................................................................................................5
Command Line Tools..................................................................................................................6
Ways to communicate .....................................................................................................................6
Messages..........................................................................................................................................7
Params..............................................................................................................................................7
Launch file.......................................................................................................................................7
Debugging........................................................................................................................................8
ROS graph resources...................................................................................................................8
Rosout.........................................................................................................................................8
Simulation: Stage........................................................................................................................9
Simulation: Gazebo.....................................................................................................................9
Visualizers: rviz...........................................................................................................................9
ROS Play/Record........................................................................................................................9
glc-record....................................................................................................................................9
ROS in more details.........................................................................................................................9
ROS Meta-Filesystem.................................................................................................................9
ROSCPP....................................................................................................................................10
Messages Structure...................................................................................................................10
Services.....................................................................................................................................10
Getting started with ROS....................................................................................................................12
Create a simple node......................................................................................................................12
Why contain your node's functionality in a class?....................................................................12
Using Messages.........................................................................................................................12
Simple Publisher (C++)............................................................................................................12
Simple Subscriber (C++)..........................................................................................................14
Service Server ..........................................................................................................................16
Service Client............................................................................................................................16
Action Definitions.....................................................................................................................17
Example..............................................................................................................................................18
Launch file example.......................................................................................................................18
Stage...............................................................................................................................................18
Initializing Gazebo Simulation......................................................................................................19
Writing a Package in ROS (C++)..................................................................................................19
Communication with a P3DX robot by reading a topic ...........................................................19
Writing a ROS publisher in C++...............................................................................................20
Writing a Simple Image Publisher.................................................................................................20
Our AGV Bot......................................................................................................................................22
Install in Ubuntu 12.04 (Precise)...................................................................................................22
The Plan.........................................................................................................................................23
Miscellaneous................................................................................................................................23
Links...................................................................................................................................................24
Learn.........................................................................................................................................24
Robotics News..........................................................................................................................24

What is ROS?

A meta operating system for robots

A collection of packaging, software building tools

An architecture for distributed inter-process/inter-machine communication and configuration

Development tools for system runtime and data analysis

A language-independent architecture (c++, python, lisp, java, and more)

What is ROS not

An actual operating system

A programming language
A programming environment / IDE
A hard real-time architecture

ROS Distributions
Collection of stacks and roscore

Groovy Galapagos (Oct 2012)

ROS Fuerte Turtle, released April 23, 2012 (Recommended)

ROS Electric Emys, released August 30, 2011

ROS Diamondback, released March 2, 2011

ROS C Turtle, released August 2, 2010

ROS Box Turtle, released March 2, 2010

ROS and its components

ROS Core
ROS Master
A centralized XML-RPC server
Negotiates communication connections
Registers and looks up names for ROS graph resources
Parameter Server
Stores persistent configuration parameters and other arbitrary data
rosout
Essentially a network-based stdout for human-readable messages

ROS Stacks & Packages

ROS code is grouped at two different levels:

Packages

A named collection of software that is built and treated as an atomic dependency in

the ROS build system.

Stacks

A named collection of packages for distribution.

Packages

A folder that contains your code, build files, launch files, etc.
Can contain any number of nodes
'manifest.xml' lists the ROS dependencies & system deps
Should only contain code that is related
ex. laser pipeline, motor controllers, localization, SLAM, forward kinematics, Hokuyo
driver...

Nodes

is a process that performs some function.

nodes communicate with each other using topics & services.
nodes are assigned unique names
odes are intended to be modular and 'operate on the fine-grained scale'

Build System

Need to specify in 'Cmakelists.txt' how to build the source code of a package

'rosmake': compile pkg + deps

Can download system dependencies if not installed

Compile multiple pkgs in parallel. ROS resolves deps first. 'ROS_PARALLEL_JOBS' = #

of cores

Command Line Tools

Command

Description

roscd

Change directory to specified ros-package

rosls

List contents of a ros-package

rosmake

Build all of the ros packages that a package

depends on
'--pre-clean': first run 'make clean' in each
package then run 'make'
'--rosdep-install': install system dependencies
first then compile all

roslaunch

Launch a '.launch' file (looks in 'launch'

directory for file)

roscreate-pkg

roscreate-pkg Create a ros-package

State the name & dependencies
Automatically generates the directory,
manifest.xml, Makefile, etc.
Can always change anything later!

rosdep

State dependencies of a package, Find out what

depends on a specific
package, Capable of output in tree format

roscp

Copy files from one package to another

rosed

Bring up your default text editor and edit file

ros_package filename.txt

rostest

Execute a regression test file

Ways to communicate

Topic (pub sub)

Asynchronous "stream-like" communication
Strongly-typed (ROS .msg spec)
Callback function is multi-threaded
Not appropriate for request/reply interaction
Many-to-many
ex. 'base_scan' is a publisher that publishes laser scans at 10 hz. Global planner,
Controller & localization nodes subscribe to base_scan.
Service (higher priority)
Synchronous "function-call-like" communication
Strongly-typed (ROS .srv spec)
one-to-one
Can have one or more clients
No topic callbacks are issued during service call (service request is blocking)
ex. request a motion plan
Actions
Built on top of topics
Long running processes

Cancellation
http://www.ros.org/wiki/actionlib
Goal: For controlling the tilting laser scanner, the goal would contain the
scan parameters (min angle, max angle, speed, etc).
Feedback: For controlling the tilting laser scanner, this might be the time left
until the scan completes.
Result: For controlling the tilting laser scanner, the result might contain a
point cloud generated from the requested scan.

Messages

nodes communicate by passing around messages

a message is a data structure with typed fields

many standard messages already exist, new messages can be defined with a simple text file

a message can be comprised of other messages

ROS generates a data structure for new message that contains many standard stl type of
functions (size(), resize(),etc.)

Params

a parameter server that stores parameter strings & value pairs which are normally passed as
input to a program

some params can be viewed by other nodes

great way to pass around a name of a topic or other info multiple nodes might need to know

can put XML & YAML files onto server

ex. shoulder_pan_max_vel '0.7' (double)

ex. camera_resolution_640_480 'true' (bool)

ex. type_of_planner ARA (string)

Launch file

A launch file is a convenient way to bringup many different nodes at once

Written in XML

Asynchronous execution

Can put parameters on server

Hierarchically compose collections of other launch files

Automatically re-spawn nodes if they crash

Change node names, namespaces, topics, and other resource names without recompiling

Easily distribute nodes across multiple machines

Debugging

rxgraph: displays a visualization of the ROS graph the ROS nodes that are currently
running and the topics that connect them

rxplot: plot data from one or more ROS topic fields that are currently being published.

rxconsole: brings up a viewer that displays any messages being published to 'rosout'

can display the filename & line number of a message

useful for debugging code you are unfamiliar with

rostopic

roswtf

rosnode

rosservice

rosmsg: get field names and field types of a message

rossrv: get the field names and field types of a service request/reply message

ROS graph resources

nodes

processes

produce and consume data

parameters

persistent data storage

configuration, initialization settings

stored on parameter server

topics

Asynchronous many-to-many communication streams.

services

Synchronous one-to-many network-based functions.

Rosout
ROS provides mechanisms in all languages for specifying different levels
of human-readable log messages.
The five default levels are:
1. ROS_FATAL(...)
2. ROS_ERROR(...)
3. ROS_WARN(...)
4. ROS_INFO(...)

5. ROS_DEBUG(...)
control by rxconsole

Simulation: Stage
2d simulator

Simulation: Gazebo
3d simulator

Visualizers: rviz

capable of displaying all 'visualizable' messages without extra coding

'nav_view' is a 2D version of rviz

ROS Play/Record

can record any information passed over ROS to a 'bag' file

the file can be played back later

ex. log sensor data for later analysis

ex. great for debugging hard to recreate situations

http://www.ros.org/wiki/ROS/Tutorials/Recording and playing back data

glc-record

record gazebo & rviz windows at the same time to create a multi-window video

can easily record many OpenGL apps simultaneously

ROS in more details

ROS Meta-Filesystem
The minimal representation of a ROS package is a directory in the
$ROS PACKAGE PATH which contains a single file:

manifest.xml

Contains package metadata (author, license, url, etc)

Specifies system and package dependencies

Specifies language-specific export flags

CMakeLists.txt: contains ROS build rules (executables, libraries, custom build flags, etc)

Makefile: just a proxy to build this package

Create package with roscreate-pkg

$ roscreate-pkg foo roscpp std_msgs

Build package with rosmake

$ rosmake foo

ROSCPP

Initialization with ros::init:

register at core

set up remappings

set up networking

ros::NodeHandle as interface to topics, services and parameters

ros::NodeHandle::subscribe, ros::NodeHandle::advertise for topics

ros::spin and ros::spinOnce to process ROS messages

Use boost::bind to use member functions as callbacks:

boost::bind ( Listener::laserCb, this , -1 ) ;

Messages Structure

defined in package-name/msg/*.msg files, sent over topics

basic data types:

int{8,16,32,64}

float{32,64}

string

time

duration

array[]

Example: Point.msg
float64 x
float64 y
float64 z

Services

Defined in package-name/srv/*.srv.

Definition similar to message files, Request message + response message.

Example: beginner tutorials/AddTwoInts

int64 a
int64 b
---

int64 sum

Getting started with ROS

Create a simple node

create a new package

write your code (usually as a class)

create a main function that instantiates class

list the dependencies

describe how it should be built

build it

create a launch file

use rviz to inspect it's working correctly

Why contain your node's functionality in a class?

you will have many shared variables that you don't want to pass around as parameters
between functions (publishers,subscribers,transforms, node handles)

have a main function that instantiates the class, and then calls ros::spin() // wait for
shutdown

Using Messages

use 'rosmsg show ' to remind yourself of field names and types (or go to ros.org)

remember to include the message header file with the correct case

<mapping_msgs/CollisionMap.h>

Simple Publisher (C++)

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
/**
* This tutorial demonstrates simple sending of messages over the ROS
system.
*/
int main(int argc, char **argv)
{
/**
* The ros::init() function needs to see argc and argv so that it can
perform
* any ROS arguments and name remapping that were provided at the
command line. For programmatic

* remappings you can use a different version of init() which takes

remappings
* directly, but for most command-line programs, passing argc and argv
is the easiest
* way to do it. The third argument to init() is the name of the
node.
*
* You must call one of the versions of ros::init() before using any
other
* part of the ROS system.
*/
ros::init(argc, argv, "talker");
/**
* NodeHandle is the main access point to communications with the ROS
system.
* The first NodeHandle constructed will fully initialize this node,
and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle n;
/**
* The advertise() function is how you tell ROS that you want to
* publish on a given topic name. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. After this advertise() call is made, the master
* node will notify anyone who is trying to subscribe to this topic
name,
* and they will in turn negotiate a peer-to-peer connection with this
* node. advertise() returns a Publisher object which allows you to
* publish messages on that topic through a call to publish(). Once
* all copies of the returned Publisher object are destroyed, the
topic
* will be automatically unadvertised.
*
* The second parameter to advertise() is the size of the message
queue
* used for publishing messages. If messages are published more
quickly
* than we can send them, the number here specifies how many messages
to
* buffer up before throwing some away.
*/
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",
1000);
ros::Rate loop_rate(10);
/**
* A count of how many messages we have sent. This is used to create
* a unique string for each message.
*/
int count = 0;
while (ros::ok())
{
/**
* This is a message object. You stuff it with data, and then
publish it.

*/
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
/**
* The publish() function is how you send messages. The parameter
* is the message object. The type of this object must agree with
the type
* given as a template parameter to the advertise<>() call, as was
done
* in the constructor above.
*/
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}

Simple Subscriber (C++)

#include "ros/ros.h"
#include "std_msgs/String.h"
/**
* This tutorial demonstrates simple receipt of messages over the ROS
system.
*/
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
/**
* The ros::init() function needs to see argc and argv so that it can
perform
* any ROS arguments and name remapping that were provided at the
command line. For programmatic
* remappings you can use a different version of init() which takes
remappings
* directly, but for most command-line programs, passing argc and argv
is the easiest
* way to do it. The third argument to init() is the name of the
node.
*
* You must call one of the versions of ros::init() before using any
other

* part of the ROS system.

*/
ros::init(argc, argv, "listener");
/**
* NodeHandle is the main access point to communications with the ROS
system.
* The first NodeHandle constructed will fully initialize this node,
and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle n;
/**
* The subscribe() call is how you tell ROS that you want to receive
messages
* on a given topic. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. Messages are passed to a callback function, here
* called chatterCallback. subscribe() returns a Subscriber object
that you
* must hold on to until you want to unsubscribe. When all copies of
the Subscriber
* object go out of scope, this callback will automatically be
unsubscribed from
* this topic.
*
* The second parameter to the subscribe() function is the size of
the message
* queue. If messages are arriving faster than they are being
processed, this
* is the number of messages that will be buffered up before beginning
to throw
* away the oldest ones.
*/
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
/**
* ros::spin() will enter a loop, pumping callbacks. With this
version, all
* callbacks will be called from within this thread (the main one).
ros::spin()
* will exit when Ctrl-C is pressed, or the node is shutdown by the
master.
*/
ros::spin();
return 0;
}

Service Server
src/add_two_ints_server.cpp
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
bool add(beginner_tutorials::AddTwoInts::Request

&req,

beginner_tutorials::AddTwoInts::Response &res )
{
res.sum = req.a + req.b;
ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
ROS_INFO("sending back response: [%ld]", (long int)res.sum);
return true;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_server");
ros::NodeHandle n;
ros::ServiceServer service = n.advertiseService("add_two_ints", add);
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}

Service Client
src/add_two_ints_client.cpp
#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_client");
if (argc != 3)
{
ROS_INFO("usage: add_two_ints_client X Y");
return 1;
}
ros::NodeHandle n;
ros::ServiceClient client =
n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");
beginner_tutorials::AddTwoInts srv;
srv.request.a = atoll(argv[1]);
srv.request.b = atoll(argv[2]);
if (client.call(srv))
{
ROS_INFO("Sum: %ld", (long int)srv.response.sum);
}
else
{
ROS_ERROR("Failed to call service add_two_ints");
return 1;
}
return 0;
}

Action Definitions

Similar to messages and services.

Definition: Request + result + feedback

Defined in ros-package/action/*.action

Generated by CMake macro genaction().

Example: actionlib tutorials/Fibonacci.action

#goal definition
int32 order
--#result definition
int32[] sequence
--#feedback
int32[] sequence
roscd learning_actionlib
$ rosrun actionlib_msgs genaction.py -o msg
action/Fibonacci.action

more at
http://www.ros.org/wiki/actionlib_tutorials/Tutorials/SimpleActionServer(ExecuteCallbackMethod)

Example
Launch file example
<launch>
<!-- load empty world -->
<include file="$(find pr2_gazebo)/pr2_empty_world.launch"/>
<!-- load planning -->
<include file="$(find sbpl_arm_planner)/launch/sbpl_planning_right_arm.launch"/>
<!-- load common nodes for motion planning tests -->
<include file="$(find
arm_navigation_tests)/tests/motion_planers/common/motion_planning_common_right_arm.
launch"/>
<!-- tuck left arm-->
<node pkg="pr2_experimental_controllers" type="tuckarm.py" args="l" output="screen" >
<param name="planner_service_name" value="/sbpl_planning/plan_path"/>
<param name="planner_id" value="435"/>
</node>
<node name="my_node" pkg="foo" type="bar">
<remap f rom="/base_laser/scan " to="scan " />
<rosparam>
usefoo : True
frameid : base_laser
</rosparam>
</node>
</launch>

Stage
http://www.ros.org/wiki/stage/Tutorials/SimulatingOneRobot
roscore
rosmake stage

rosrun stage stageros `rospack find stage`/world/willow-erratic.world

svn co https://code.ros.org/svn/wg-rospkg/branches/trunk_cturtle/sandbox/teleop_base teleop_base
rosmake teleop_base

rosrun teleop_base teleop_base_keyboard base_controller/command:=cmd_vel

rosmake rviz
roscd stage
rosrun rviz rviz -d `rospack find stage`/rviz/stage.vcg
more at:
http://www.ros.org/wiki/stage/Tutorials/IntroductiontoStageControllers

Initializing Gazebo Simulation

roslaunch gazebo_worlds empty_world.launch
rosservice list gazebo
roscd gazebo_worlds/
rosrun gazebo spawn_model -file objects/desk1.model -gazebo -model desk1 -x 0
rosservice call gazebo/get_world_properties
rosservice call gazebo/get_model_properties table_model
rostopic echo -n 1 /gazebo/model_states
rostopic echo -n 1 /gazebo/link_states
Applying Forces
rosrun gazebo spawn_model -file `rospack find gazebo_worlds`/objects/000.580.67.model
-gazebo -model cup -z 1

Writing a Package in ROS (C++)

Refer page 16 of ROS_Tutorial.pdf

Communication with a P3DX robot by reading a topic

Refer page 18 of ROS_Tutorial.pdf

roscreate-pkg p3dxReader std_msgs gazebo nav_msgs roscpp

create and edit

src/reader.cpp

#include "ros/ros.h"
#include "nav_msgs/Odometry.h"
void callback(const nav_msgs::Odometry::ConstPtr& str)
{
printf("P3DXReader-> Reading Message %f,%f\n",

str->pose.pose.position.x, str->pose.pose.position.y);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "reader");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/erratic_odometry/odom", 1000,
callback);
printf("P3DX Reader initialized\n");
ros::spin();
return 0;
}
Add to CmakeLists.txt

rosbuild_add_executable(reader src/reader.cpp)
Can be used with Gazebo

roslaunch gazeroslaunch gazebo_worlds empty_world.launch

roslaunch p3dx.launch

rostopic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z:

0.0}, angular: { x: 0.0, y: 0.0, z: 1.0} }'

Writing a ROS publisher in C++

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
int main(int argc, char **argv)
{
ros::init(argc, argv, "publisher");
ros::NodeHandle node;
ros::Publisher p3dxCmdPub = node.advertise<geometry_msgs::Twist>("cmd_vel", 1000);
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
geometry_msgs::Twist newSpeed;
newSpeed.linear.x=1.0;
newSpeed.linear.y=0.0;
newSpeed.linear.z=0.0;
newSpeed.angular.x=0.0;
newSpeed.angular.y=0.0;
newSpeed.angular.z=1.0;
p3dxCmdPub.publish(newSpeed);
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
Add to CMakeLists.txt

rosbuild_add_executable(publisher src/publisher.cpp)

Writing a Simple Image Publisher

http://www.ros.org/wiki/image_transport/Tutorials/PublishingImages
#include <ros/ros.h>

#include
#include
#include
#include

<image_transport/image_transport.h>
<opencv/cvwimage.h>
<opencv/highgui.h>
<cv_bridge/CvBridge.h>

int main(int argc, char** argv)

{

ros::init(argc, argv, "image_publisher");

ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Publisher pub = it.advertise("camera/image", 1);
cv::WImageBuffer3_b image( cvLoadImage(argv[1],
CV_LOAD_IMAGE_COLOR) );
sensor_msgs::ImagePtr msg =
sensor_msgs::CvBridge::cvToImgMsg(image.Ipl(), "bgr8");
ros::Rate loop_rate(5);
while (nh.ok()) {
pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
}

Our AGV Bot

Install in Ubuntu 12.04 (Precise)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" >
/etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add sudo apt-get update
sudo apt-get install ros-fuerte-desktop-full
460 MB of archives, 1,540 MB of additional disk space
or
sudo apt-get install ros-fuerte-desktop
275 MB of archives, 965 MB of additional disk space
or
sudo apt-get install ros-fuerte-ros-comm
11.6 MB of archives, 54.4 MB of additional disk space
sudo apt-get install ros-fuerte-rx
sudo apt-get install python-rosinstall python-rosdep
gedit ~/.bashrc
source /opt/ros/fuerte/setup.bash
export ROS_WORKSPACE=~/fuerte_workspace/
export ROS_PACKAGE_PATH+=:~/fuerte_workspace/sandbox/
mkdir -p ~/fuerte_workspace/sandbox/
sudo rosdep init
rosdep update

roscd
cd sandbox
roscreate-pkg beginner_tutorials std_msgs rospy roscpp
rospack profile
rospack find beginner_tutorials
gedit beginner_tutorials/src/helloROS.cpp
#include <iostream>
using namespace std;
int main()
{
cout<<"Hello";
return 0;
}
gedit beginner_tutorials/CMakeLists.txt
rosbuild_add_executable(hello src/helloROS.cpp)
rosmake beginner_tutorials
rosrun beginner_tutorials hello

The Plan
Param server for setting config like serial port, baudrate for various communication devices
stack Eklavya
modules as packages
packages can contain multiple nodes, msg

Miscellaneous
The TF Library (Transform Frame)
sudo apt-get install ssh ros-fuerte-turtlebot* ros-fuerte-viz
rosmsg list
rosmsg show sensor_msgs/Image

Eclipse IDE
make eclipse-project
cmake -G"Eclipse CDT4 - Unix Makefiles"
http://www.ros.org/wiki/IDEs

Links
Learn
http://www.ros.org/wiki/Courses
http://www.ros.org/wiki/ROS/Tutorials
https://alliance.seas.upenn.edu/~meam620/wiki/index.php?n=Roslab.ROSTutorials
https://wiki.nps.edu/display/~thchung/ROS+--+Gazebo+Simulator
http://www.willowgarage.com/blog/2009/12/01/ros-tutorials-turtles
http://mrl.isr.uc.pt/events/iros2012tutorial/
http://www.ros.org/wiki/tf/Tutorials
http://answers.ros.org/question/12599/ros-beginning/#18583
http://www.ros.org/wiki/turtlebot_follower/Tutorials/Demo
http://www.ros.org/wiki/Robots/TurtleBot
http://www.ros.org/wiki/APIs
http://www.ros.org/wiki/simulator_gazebo/Tutorials/StartingGazebo
http://www.ros.org/wiki/AllTutorials
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
http://www.willowgarage.com/blog/2012/01/16/capturing-accurate-camera-poses
http://www.pirobot.org/blog/0016/
http://www.ros.org/wiki/IDEs

Robotics News
http://nootrix.com/articles/
http://www.ros.org/news/robots/