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    Ros

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    Van Tung Ha
    This document provides an overview of the Robot Operating System (ROS). It discusses the history and development of ROS from 2007 to present day. It explains the key aspects of how ROS works, including its publish-subscribe architecture and basic nodes, master, and topics. ROS provides a standardized framework for robot development and allows software to be reused across different robots. It is commonly used in research, hobbyist, and industrial robotics applications.

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    Ros

    Uploaded by

    Van Tung Ha
    75 views13 pages
    This document provides an overview of the Robot Operating System (ROS). It discusses the history and development of ROS from 2007 to present day. It explains the key aspects of how ROS works, including its publish-subscribe architecture and basic nodes, master, and topics. ROS provides a standardized framework for robot development and allows software to be reused across different robots. It is commonly used in research, hobbyist, and industrial robotics applications.

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    tài liệu về ros

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    ros

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    This document provides an overview of the Robot Operating System (ROS). It discusses the history and development of ROS from 2007 to present day. It explains the key aspects of how ROS works, including its publish-subscribe architecture and basic nodes, master, and topics. ROS provides a standardized framework for robot development and allows software to be reused across different robots. It is commonly used in research, hobbyist, and industrial robotics applications.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    75 views13 pages

    Ros

    Uploaded by

    Van Tung Ha
    This document provides an overview of the Robot Operating System (ROS). It discusses the history and development of ROS from 2007 to present day. It explains the key aspects of how ROS works, including its publish-subscribe architecture and basic nodes, master, and topics. ROS provides a standardized framework for robot development and allows software to be reused across different robots. It is commonly used in research, hobbyist, and industrial robotics applications.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 13

    David Lukas Wenzler

    What is ROS
    ROS = Robot Operating System
    • First stable release 2009/02/10 (ROS 0.4)

    History / Development of ROS


    2007 2009 Community all over the
    World
    • Stanford University • Willow Garage • Hobbyist
    • Stanford-AI-Robot- • Silicon Valley • Researcher
    Projektes (STAIR)
    • Menlo Park, • Industry
    California

    http://www.ros.org/wp-content/uploads/2018/05/melodic_with_bg.png
    Why ROS?
    • Unified communication framework for sensors,
    actuators and computers
    • Software can be reused
    • Easy simulation of the robot
    • Record and play back sensor data

    • → Standardized framework for robot development


    http://www.ros.org/wp-content/uploads/2017/05/lunar_with_bg.png
    ROS-Video
    How does ROS work?
    PUB-SUB design pattern
    • ROS uses a publish–subscribe design pattern

    Topics
    publishes a message to a topic (named logical channels)
    Subscribes to a topic

    Publishers Subscribers
    (senders of messages) (receiver of messages)

    → Important: Subscriber will only receive messages of subscribed topics


    → Filtering of the messages
    http://www.ros.org/wp-content/uploads/2016/05/kinetic.png
    How does ROS work?
    PUB-SUB design pattern
    • Example of the PUP-SUB pattern

    → Important: Puplisher and Subscriber don´t know each other


    http://www.code2succeed.com/pub-sub/
    How does ROS work?
    ROS basic architecture
    • Nodes: Executables, the computation is done here
    • Master: Registration and lookup service for al other nodes
    • Parameter Server: Central data storage for the nodes during runtime
    • Messages: Data send to other nodes
    • Topic: Buses used by nodes to transmit data
    • Services: Used to communicate with nodes and receive a reply
    • Bags: All information of the communication is stored here
    How does ROS work?
    ROS basic architecture
    ROS-Industrial

    • Open source project


    • Interfaces for common industrial devices
    (manipulators, grippers, sensors, and device networks)
    • Includes libraries for common industrial applications
    (2D/3D sensor calibration, process path/motion planning, ...)
    • Collaboration with the industries big players like Microsoft or BMW

    https://rosindustrial.org/
    ROS industrial - Video
    Live ROS Example
    A lsmall live example using a virtual machine and ROS to control a
    turtle simulation of the “turtlesim” package

    1. Starting of the Master node: roscore


    2. Starting of the visualization tool: rqt_graph
    3. Starting of the simulation node: turtlesim turtlesim_node
    4. Starting of the keyboard input node to control the velocity of the
    turtle: turtlesim turtle_teleop_key
    Thank you for your attention

    Any questions?
    References
    • Fernández, Enrique, et al. Learning ROS for Robotics Programming, Packt
    Publishing Ltd, 2013. ProQuest Ebook Central,
    https://ebookcentral.proquest.com/lib/erlangen/detail.action?docID=3564
    787.
    • http://wiki.ros.org/
    • Quigley, Morgan, et al. "ROS: an open-source Robot Operating
    System." ICRA workshop on open source software. Vol. 3. No. 3.2. 2009.
    • Jason M. O'Kane. A Gentle Introduction to ROS. CreateSpace Independent
    Publishing Platform, 1st edition, 2014. ISBN 978-14-92143-23-9
    • http://www.willowgarage.com/pages/about-us/history
    • https://rosindustrial.org/about/description

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