Scribd
Upload
156 views26 pages

Ros Intro

ROS Intro

Uploaded by

Wilson Hernandez Martinez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
156 views26 pages

Ros Intro

ROS Intro

Uploaded by

Wilson Hernandez Martinez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 26

Introduction to ROS

Slides adapted from: http://courses.csail.mit.edu/6.141/spring2014/pub/lectures/Lec05-ROS-Lecture.pptm


A meta-operating system for
robots
What is ROS?
• A “Meta” Operating System.
• Open source
• Runs in Linux (esp. Ubuntu)
• OS X support
• Ongoing Windows implementation
• Nodes
• Message passing
• Publish
• Subscribe
• Services via remote invocation
• Supports numerous programming languages (C++, Python, Lisp, Java)
What is ROS?
• Low level device abstraction Application
• Joystick building
• GPS blocks
• Camera
• Controllers ROS
• Laser Scanners
• …
System
• Application building blocks software
• Coordinate system transforms
• Visualization tools
• Debugging tools
• Robust navigation stack (SLAM with loop closure)
• Arm path planning
• Object recognition
• ...
What is ROS?
• Software management (compiling, packaging)
• Remote communication and control
What is ROS?
• Founded by Willow Garage
• Exponential adoption
• Countless commercial, hobby, and academic robots use ROS
(http://wiki.ros.org/Robots)
ROS Philosophical goals
• “Hardware agnosticism”
• Peer to peer
• Tools based software design
• Multiple language support (C++/Java/Python)
• Lightweight: runs only at the edge of your modules
• Free
• Open source
• Suitable for large scale research and industry
ROS software
development
Conceptual levels of design
(A) ROS Community: ROS Distributions, Repositories

Carnegie Mellon

Node 4 Node 5 (B) Computation Graph: Peer-to-Peer Network of


ROS nodes (processes).
Node 1 Node 2:
Laser Scanning Map Building

Node 3:
Planning
Node7
Node 6

(C) File-system level: ROS Tools for managing source code,


build instructions, and message definitions. 10
Tools-based software design
Tools for:

• Building ROS nodes (catkin_make)


• Running ROS nodes (rosrun, roslaunch)
• Viewing network topology (rqt_graph)
• Monitoring network traffic (rostopic)

Many cooperating processes, instead of a single monolithic program.


Multiple language support
• ROS is implemented
natively in each C++ Node : Python Node:
Map Building Laser Scanner
language.
• Quickly define Sub
scrip
tion ication
Pub l
messages in language-
Topic:
independent format. “LaserData”
File-system level
File: PointCloud.msg
Header header
Points32[] pointsXYZ
int32 numPoints
Lightweight
• Encourages standalone libraries with no ROS dependencies:
Don’t put ROS dependencies in the core of your algorithm!

• Use ROS only at the edges of your interconnected software modules: Downstream/Upstream interface

• ROS re-uses code from a variety of projects:

• OpenCV : Computer Vision Library ROS Community

• Point Cloud Library (PCL) : 3D Data Processing

• MoveIt : Motion Planning Carnegie


Mellon
Peer to Peer Messaging

• No Central Server through which all messages are routed.


• “Master” service run on 1 machine for name registration +
lookup
• Messaging Types:
• Topics : Asynchronous data streaming
Computation Graph
• Parameter Server
Peer to Peer Messaging

• Master: Lookup information, think DNS


roscore command  starts master, parameter server, logging
• 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: TCPROS, uses TCP/IP Computation Graph

• Bandwidth: Consider where your data’s going, and how


Free & Open Source
• BSD License : Can develop commercial applications
• Drivers (Kinect, Joystick, Lasers, and others)
• Perception, Planning, Control libraries
• Interfaces to other libraries: OpenCV, PCL, etc.
ROS Debugging
• Shutdown “Object” node  re-compile  restart : won’t disturb system

• Logging (VIDEO)

Kinect Driver Laser Scanner


Object
Recognition

Logger

• Playback (VIDEO)

Object
Logger Playback
Recognition 17
Useful ROS Debugging Tools
• rostopic: Display debug information about ROS topics: publishers, subscribers, publishing
rate, and message content.
rostopic echo [topic name]  prints messages to console
rostopic list  prints active topics
… (several more commands)
• rqt_plot : Plot data from one or more ROS topic fields using matplotlib.
rqt_plot /turtle1/pose/x,/turtle1/pose/y  graph data from 2 topics in 1 plot
Record data from published to
topics
rosbag record [topics] -o <output_file>

Play back recording


rosbag play <input_file> --clock
Useful ROS Debugging Tools
rqt_graph
ROS Visualization
Visualize:

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

VIDEO
rviz
ROS Transformations
• “TF” = Name of Transform package

• TF Handles transforms between coordinate


frames : space + time

• tf_echo : print updated transforms in console

Example:
rosrun tf tf_echo [reference_frame] [target_frame]
Packages
• Perception

• Point Cloud Library (PCL)

• OpenCV

• Kinect/OpenNI
ROS Simulator

Gazebo

● Can simulate different robots, sensors, and


environments
● Develop algorithms and test in the simulator

● If model is good enough, same code will work on the real

robot with similar performance.


ROS Resources
• http://www.ros.org

• http://wiki.ros.org

• ROS Tutorials: http://wiki.ros.org/ROS/Tutorials


• Gazebo: http://gazebosim.org/

You might also like