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Robotics Operating System

It is an introduction to robotics operating system. An open source system for robots. It is being highly used now in robotics.

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Nishant Sharma
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© © All Rights Reserved
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112 views

Robotics Operating System

It is an introduction to robotics operating system. An open source system for robots. It is being highly used now in robotics.

Uploaded by

Nishant Sharma
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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An Introduction to ROS

Nishant Sharma

Robot Hardware
Actuators:
Motors
Sensors:
Encoders

Single pipeline bottleneck


This is an architecture only suitable for simple systems.
publish

publish
Software

RobotBase
subscribe

Hardware
subscribe

We will need an architecture which can support


more complex hardware and software
components.

Goal: Develop big software for robots

Challenges encountered in robotics


1. The world is asynchronous
2. Robots must manage significant complexity
3. Robot hardware requires abstraction

Reusable code!

PR2

Roomba

Care-O-bot 3

MIT Urban Challenge Vehicle

We want:
Callbacks
Separate processes that communicate through a messaging interface
A messaging interface that helps avoid hardware dependencies

A meta-operating system for


robots

What is ROS?
A Meta Operating System.
Open source
Runs in Linux (esp. Ubuntu)
Ongoing Windows implementation

Agent based (nodes)


Message passing
Publish
Subscribe
Services via remote invocation

Supports numerous programming languages (C++, Python, Lisp, Java)

Comparison: the robotics ecosystem


Applications

Applications

Application building blocks


ROS
System software

Hardware

Hardware

What is ROS
A meta operating system for robots

Open source
Runs in Linux (esp. Ubuntu)
Ongoing Windows implementation
Can be used with single-board computers like RPi, BBB, etc.

What is it NOT! :

An actual operating system


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

What is ROS
Agent based system (nodes)
Message passing
Publisher
Subscriber
Services via remote invocation

Supports numerous programming languages (C++, Python, Lisp, Java)

What is ROS
Software management (compiling, packaging)
Remote communication and control

ROS: File system Level


ROS resources that are mainly encountered on disk:

Packages
Metapackages
Package Manifests
Message Types
Service Types
Source Code Files

ROS Computation Graph Level


Peer-to-Peer network of ROS processes that are processing data
together

Nodes
Master
Parameter Server
Topics
Messages
Services
Bags

ROS : Community Level


ROS resources that enable separate communities to exchange
software and knowledge.

Distributions
Repositories
ROS wiki
Mailing Lists
ROS Answers
Blog

ROS & its main components


ROS Master

A centralized XML-RPC server


Negotiates communication connections
Registers and looks up names for ROS graph resources
Command roscore: starts master, parameter server, logging

Parameter Server
A shared, multi-variate dictionary that is accessible via network APIs.
Allows data to be stored by key

rosout
Essentially a network-based stdout for human-readable messages

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

Nodes
Process that performs some function.
Communicate with each other using topics & services.
Assigned unique names
Intended to be modular and operate on the fine-grained scale
Ex. For a package on motor controllers a node can be an actuator or some
sensor.

Ways to Communicate : Topics


Topic (publisher, subscriber)
Asynchronous "stream-like" communication
Strongly-typed (ROS message specification)
Callback functions
By default single-threaded
Can be switched to multi-threaded implementation

Not appropriate for request/reply interaction


Many-to-many

Publish/Subscribe Messaging
Master

(DNS-like)
Publisher

Publisher

/topic

Subscriber

Subscriber

Publish: Will not block until receipt, messages get queued.


Delivery Guarantees: Specify a queue size for publishers: If publishing too quickly,
will buffer a maximum of X messages before throwing away old ones
Transport Mechanism: TCP/IP

Ways to communicate : Service


Higher Priority
Synchronous "function-call-like" communication
Strongly-typed (ROS service specification)
One-to-one
Can have one or more clients
No topic callbacks are issued during service call
Service request is blocking

ROS Tools

Plotting
Graph Visualization
Diagnostics
Simulation/visualization

ROS debugging tools


rostopic: Display debug information about ROS topics: publishers,
subscribers, publishing rate, and message content.
rostopic echo [topic name]
rostopic list

prints messages to console


prints active topics

rqtplot : Plot data from one or more ROS topic fields using matplotlib.
rqtplot /turtle1/pose/x,/turtle1/pose/y graph data from 2 topics in 1 plot

ROS Visualization
Visualize:

Sensor data
Robot joint states
Coordinate frames
Maps being built
Debugging 3D markers

Visualization/Simulation Tools
RVIZ
Gazebo

ROS: Over Network


Two ways to connect different machines in a Network
Exporting ros master to a single machine
Different machines can use just one instance of roscore

Using Multimaster replication


Different roscore instances synchronize with each other
Already implemented in ROS package Multimaster_fkie

ROS Resources
http://www.ros.org
http://wiki.ros.org

Thank you!

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