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Visnav Exercise 01: Introduction To Ros

This document provides an introduction to the Robot Operating System (ROS), an open-source middleware for robotics. It discusses key ROS concepts including nodes that register with a master registry, topics that provide communication channels between nodes, and bags for recording and playback of messages. Common ROS tools are also outlined, such as roscore to start the master, rosrun/roslaunch to start nodes, rostopic to interact with topics, and rviz for visualization.

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Harsha Vardhan
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44 views13 pages

Visnav Exercise 01: Introduction To Ros

This document provides an introduction to the Robot Operating System (ROS), an open-source middleware for robotics. It discusses key ROS concepts including nodes that register with a master registry, topics that provide communication channels between nodes, and bags for recording and playback of messages. Common ROS tools are also outlined, such as roscore to start the master, rosrun/roslaunch to start nodes, rostopic to interact with topics, and rviz for visualization.

Uploaded by

Harsha Vardhan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Computer Vision Group

Prof. Daniel Cremers


VisNav Exercise 01
Dr. Jrgen Sturm
Jakob Engel Christian Kerl
Introduction to ROS
What is ROS?
Robot Operating System

Open-Source Middleware for Robotics

Drivers, Communication, Package System,

Supports C++, Python,


Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 2
ROS in Numbers
175+ organizational/individual contributors

90+ types of robots supported

3699+ packages


Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 3
Concepts Nodes
Every ROS-enabled program is a node

Registers with ROS master

Unique name

Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 4
Concepts Master
Registry for
Nodes
Topics
Services
Parameters

One instance per system
Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 5
Concepts Topics
Message channel between nodes
Unique name

/ardrone/front/image_raw


Fixed type

sensor_msgs/Image

Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 6
namespace name
Concepts Topics
Node sending messages is a publisher

Node receiving messages is a subscriber

Topic has to be advertised beforehand

Multiple publishers/subscribers per topic
possible
Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 7
Concepts Bags
Containers to store messages

Supports recording and playback of messages

Good for testing, debugging, logging
Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 8
Tools roscore
Starts the ROS master

Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 9
Tools rosrun/roslaunch
Starts a node
rosrun ardrone_autonomy ardrone_driver


Important environment variable
$ROS_PACKAGE_PATH
Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 10
package node
Tools rostopic
rostopic
list display available topics
info show details of a topic
hz measure publishing rate
echo print messages

Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 11
Tools rosbag+rxbag
rosbag
record create new bag file
play playback a bag
info display details about a bag

rxbag GUI to view bag files
Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 12
Tools rviz
Visualization tool
Dr. Jrgen Sturm, Computer Vision Group, TUM Visual Navigation for Flying Robots 13

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