Robot Operating System

Technological Institute of the Philippines
983 Aurora Blvd, Project 3, Quezon City, Manila
College of Engineering and Architecture
Mechanical Engineering Department
MECHATRONICS
“Robot Operational Circle”

“Robotics Operating System (ROS)”
Submitted By:
Allado, Jan Lawrence Ricci S.
Dillera, David
Dorado,Faith Jezreel A.
Fernandez, Ben
Jaca, Christiane Lois
Submitted to:
Engr. Jonathan Cabalo
ROBOT OPERATING SYSTEM
Robot Operating System (ROS) is robotics middleware (i.e. collection of software

frameworks for robot software development). Although ROS is not an operating system, it provides
services designed for heterogeneous computer cluster such as hardware abstraction, low-level device
control, implementation of commonly used functionality, message-passing between processes, and
package management. Running sets of ROS-based processes are represented in a graph architecture
where processing takes place in nodes that may receive, post and multiplex sensor, control, state,
planning, actuator and other messages. Despite the importance of reactivity and low latency in robot
control, ROS, itself, is not a real-time OS (RTOS), though it is possible to integrate ROS with real-time
code. The lack of support for real-time systems is being addressed in the creation of ROS 2.0.
Software in the ROS Ecosystem can be separated into three groups:
 language-and platform-independent tools used for building and distributing ROS-based

software;
 ROS client library implementations such as roscpp, rospy, and roslisp;
 packages containing application-related code which uses one or more ROS client libraries. [8]
Both the language-independent tools and the main client libraries (C++, Python, and Lisp) are released
under the terms of the BSD license, and as such are open source software and free for both commercial
and research use. The majority of other packages are licensed under a variety of open source licenses.
These other packages implement commonly used functionality and applications such as hardware
drivers, robot models, datatypes, planning, perception, simultaneous localization and mapping,
simulation tools, and other algorithms.
The main ROS client libraries (C++, Python, and Lisp) are geared toward a Unix-like system, primarily
because of their dependence on large collections of open-source software dependencies. For these
client libraries, Ubuntu Linux is listed as "Supported" while other variants such as Fedora Linux, macOS,
and Microsoft Windows are designated "Experimental" and are supported by the community. The
native Java ROS client library, rosjava, however, does not share these limitations and has enabled ROS-
based software to be written for the Android OS. rosjava has also enabled ROS to be integrated into an
officially-supported MATLAB toolbox which can be used on Linux, macOS, and Microsoft
Windows. A JavaScript client library, roslibjs has also been developed which enables integration of
software into a ROS system via any standards-compliant web browser.
HISTORY AND MILESTONE
2007
 ROS was started by borrowing the best practices from many early open source robotic software
frameworks including switchyard by the Stanford Artificial Intelligence Laboratory in support of the
Stanford AI Robot STAIR (STanford AI Robot) project.
 January. Willow Garage hires first employees: Jonathan Stark, Melonee Wise, Curt Meyers, and
John Hsu
 11/7/2007:[ First commit of ROS code to SourceForge
2008
 Development was performed primarily at Willow Garage, a robotics research lab, when Eric
Berger and Keenan Wyrobeik, the founders of the Stanford Personal Robotics Program, [16] left
Stanford to start the Personal Robotics Program at Willow Garage. During that time, researchers at
more than twenty institutions collaborated with Willow Garage engineers in a federated
development model.
2009
 2/10/2009: ROS 0.4 Mango Tango released

 2/16/2009: RVIZ first documented
 5/12/2009: First published paper on ROS: ROS: an open-source Robot Operating
System 5/12/2009 (Authors: Morgan Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote,
Jeremy Leibs, Rob Wheeler, Andrew Y Ng)
 8/16/2009: ROS.org comes online
 12/2/2009: First ROS tutorials released
2010
 1/22/2010: ROS 1.0 released

 3/30/2010: First autonomous car running ROS announced with UT Austin[24]
 5/4/2010: Willow Garage awards PR2 to 11 institutions
 University of Freiburg (Germany)
 Bosch
 Georgia Tech
 KU Leuven (Belgium)
 MIT
 Stanford
 TU Munich (Germany)
 UC Berkeley
 U Penn
 USC[disambiguation needed]
 University of Tokyo (Japan)
 5/29/2010: First drone using ROS, from GRASP Lab at U Penn
 8/19/2010: First use of ROS on Lego Mindstorms
 9/7/2010: PR2 robots made available for commercial purchase
 1/26/2011: First public appearance of TurtleBot, at Homebrew Robotics Club
 2/15/2011: Introduction of ROS Answers
 4/18/2011: Willow Garage announces TurtleBot
 5/11/2011: First pure Java implementation of ROS announced at Google I/O
 5/5/2011: ROS surpasses 100 repositories
 100th repository is rl-texplore-ros-pkg from the University of Texas at Austin
 11/8/2011: 4th anniversary of ROS and video compilation published
2012
 4/16/2012: Willow Garage spins out Open Source Robotics Foundation

 4/17/2012: DARPA awards software contract to Open Source Robotics Foundation
 5/19–20/2012: First ROSCon held in Saint Paul, MN
 9/4/2012: First book on ROS published. ROS By Example, by Patrick Goebel
 9/17/2012: First commercial robot based on ROS released by Rethink Robotics
 11/7/2012: Five year anniversary of ROS, with video compilation
 12/3/2012: ROS now running on every continent
2013
 February 2013, ROS stewardship transitioned to the Open Source Robotics Foundation.
 3/12/2013: 10,000 questions asked on ROS Answers
 5/11-12/2013: ROSCon 2013 takes place in Stuttgart, Germany
 6/18/2013: Virtual Robotics Challenge takes place, the virtual stage of the DARPA Robotics
Challenge
 August 2013, a blog posting announced that Willow Garage would be absorbed by another
company started by its founder, Suitable Technologies.
 12/3/2013: ROS.org released
2014
 1/15/2014: Support responsibilities for the PR2 created by Willow Garage taken over
by Clearpath Robotics
 2/7/2014: ROS Answers Reaches 15,000 Questions
 6/6/2014: ROS Kong, the first international ROS user group meeting
 9/1/2014: First robot in space running on ROS, the Robonaut 2 on the International Space
Station
 9/12–13/2014: ROSCon 2014 takes place in Chicago. Program here. [40]
 Industry attendees surpass academia attendees for first time
 12/21/2014: First ROS meetup in Korea
2015
 6/9/2015: DARPA Robotics Challenge takes place. Out of the 23 DRC Finals teams, 18 teams use
ROS and 14 teams use Gazebo
 7/23/2015: First ROS Summer School in China
 10/3/2015: ROSCon 2015. Program here
 11/3/2015: ROS 2 Alpha released
 11/7/2015: Eighth anniversary of ROS, and video compilation
 12/25/2015: Book release: Programming Robots with ROS: A Practical Introduction to the Robot
Operating System
2016
 2/18/2016: First Danish ROS meetup

 7/22/2016: Second ROS Summer School in China
 9/15/2016: OSRF announces collaboration with Toyota Research Institute
 10/7/2016: Bosch underwrites full-time position at OSRF
2017
 3/21/2017: First Ukrainian ROS Meetup
 5/16/2017: Open Source Robotics Foundation changed its name to Open Robotics.
 7/22/2017: Third ROS Summer School in China
 9/21/2017: ROSCon 2017. Program here.
APPLICATION
ROS areas include:
 a master coordination node

 publishing or subscribing to data streams: images, stereo, laser, control, actuator, contact ...
 multiplexing information
 node creation and destruction
 nodes are seamlessly distributed, allowing distributed operation over multi-core, multi-
processor, GPUs and clusters
 logging
 parameter server
 test systems
ROS package application areas will include:
 perception
 object identification
 segmentation and recognition
 Face recognition
 gesture recognition
 motion tracking
 ego motion
 motion understanding
 structure from motion (SFM)
 stereo vision: depth perception via two cameras
 motion
 mobile robotics
 control
 planning
 grasping
ROS-Industrial is a BSD-licensed “hardware-agnostic” software development program to create a Unified
Robot Description Format (URDF) for industrial robots.
VERSION HISTORY
ROS releases may be incompatible with other releases and are often referred to by code name rather
than version number. The major releases so far are:
Distro Release date Poster EOL date

Lunar Loggerhead May 23, 2017 May, 2019
Kinetic Kame May 23, 2016 2021-05-30
Jade Turtle May 23, 2015 2017-05-30
Indigo Igloo July 22, 2014 2019-04-30
Hydro Medusa September 4, 2013 2014-05-31
Groovy
December 31, 2012 2014-07-31
Galapagos
Fuerte Turtle April 23, 2012 --
Electric Emys August 30, 2011 --
Diamondback March 2, 2011 --
C Turtle August 2, 2010 --
Box Turtle March 2, 2010 --
Old version
Older version, still supported
Latest version
Future release

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Technological Institute of the Philippines

983 Aurora Blvd, Project 3, Quezon City, Manila

College of Engineering and Architecture

Mechanical Engineering Department

“Robot Operational Circle”

Allado, Jan Lawrence Ricci S.

Jaca, Christiane Lois

Robot Operating System (ROS) is robotics middleware (i.e. collection of software

 language-and platform-independent tools used for building and distributing ROS-based

HISTORY AND MILESTONE

 2/10/2009: ROS 0.4 Mango Tango released

 1/22/2010: ROS 1.0 released

 4/16/2012: Willow Garage spins out Open Source Robotics Foundation

 2/18/2016: First Danish ROS meetup

ROS areas include:

 a master coordination node

Distro Release date Poster EOL date

Kinetic Kame May 23, 2016 2021-05-30

Jade Turtle May 23, 2015 2017-05-30

Indigo Igloo July 22, 2014 2019-04-30

Hydro Medusa September 4, 2013 2014-05-31

Electric Emys August 30, 2011 --

Diamondback March 2, 2011 --

C Turtle August 2, 2010 --

Box Turtle March 2, 2010 --

Older version, still supported

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