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Pertemuan 4

ROS (Robot Operating System) is an open-source meta operating system that provides tools, libraries, and modules for developing robot applications. It features a message passing interface, high-level programming support, and a global community, making it suitable for education, research, and prototyping. However, it can be difficult to learn and may have limitations in real-time application development and robot modeling.

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8 views13 pages

Pertemuan 4

ROS (Robot Operating System) is an open-source meta operating system that provides tools, libraries, and modules for developing robot applications. It features a message passing interface, high-level programming support, and a global community, making it suitable for education, research, and prototyping. However, it can be difficult to learn and may have limitations in real-time application development and robot modeling.

Uploaded by

afiyah.rifkha
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© © All Rights Reserved
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SISTEM

OPERASI
ROBOT
ROBOTIKA (F09171036F)(Pertemuan 4)
Muhammad Akbar, S.Kom., M.Kom. (DPJ)
Ryfial Azhar, S.Kom., M.Kom.
Afiyah Rifkha Rahmika, M.Kom.

Rabu
09:20 - 11:50
F.F04
3 SKS

Program Studi S1 Teknik Informatika


Universitas Tadulako
What is ROS? https://www.ros.org/

• ROS adalah sistem operasi meta yang bersifat open-source dan berada
diatas sistem operasi lain untuk pengembangan aplikasi robot.

• ROS disebut sistem operasi meta karena merupakan perpaduan antara


sistem operasi dan middleware yang menyediakan tools, modul, library
untuk memperoleh, membangun, menulis, dan menjalankan kode di
beberapa komputer
KOMPONEN UTAMA https://www.ros.org/blog/ecosystem/

• Sistem perpipaan/komunikasi
• Alat Pengembangan
• dan Debugging
Modul Siap Pakai • Komunitas Global

• Infrastruktur Komunikasi • • Contoh:


Simulasi, Visualisasi Data, Debugging • openrobotics.org
• Navigasi robot (SLAM, Path Planning).
• • Contoh:
Penghubung komponen (sensor, actuator,algoritma)
• (Inverse
• Manipulasi lengan robot https://www.ros.org/blog/commun
Kinematics).
• RViz untuk visualisasi data sensor dan robot.
• Contoh: ROS Topics, Services, Messages, dan • Pengolahan citra (Computer Vision)
• rqt untuk debugging dan analisis sistem robot
Nodes
Why ROS?

• Free and open-source robotics


software framework
• Message passing interface between
processes
• Operating system–like features
• High-level programming language
support and tools
• Availability of third-party libraries
• Off-the-shelf algorithms
• Ease in prototyping
• Ecosystem/community support
• Extensive tools and simulators
ROS Packages

Motion Mapping and


planning localization

Navigation Perception

Coordinate
frame Simulation
representation
ROS Robots
https://robots.ros.org/
When to use ROS?!

1. The robot contains many


different sensors and
actuators. ROS dapat
membantu dalam membuat
sistem terdistribusi untuk semua
komponen tersebut.
2. For Education Purposes. ROS
membantu siswa melihat
gambaran lengkap aplikasi
robotika.
3. For Research Purposes.
4. For Fast Prototyping
Why might ROS be not preferable?!

Difficulty in learning:
Difficulties in starting with
ROS can be difficult to learn. It has a simulation:
step learning curve and developers
The toughness of learning simulation
should become familiar with many
using Gazebo and ROS is a reason
new concepts to get benefits from
for not using it in projects.
the ROS framework.

Potential limitations:
Difficulties in robot modeling:
1- complexity to implement robust
Learning to model a robot in ROS will multi-robot distributed applications.
take a lot of time, and building using
URDF tags is also time-consuming 2- There is a lack of a native real-
compared to other simulators. time application development
support
Konsep ROS

There are mainly three levels of


ROS:
• • Sistem file ROS
• • Grafik Komputasi ROS
• • Komunitas ROS
ROS filesystem

Package
Manifests:

Metapackage Message
Packages:
s: (msg) types:

Service (srv)
types:
ROS filesystem

ROS packages are the main


unit of an ROS software
framework.
Metapackag
Packages:
A ROS package may contain
es: executables, ROS-dependent
library, configuration files, and
so on. ROS packages can be
reused and shared.
ROS filesystem

The manifests (package.xml) file will have all


Package
Manifests: the details of the packages, including name,
description, license, and dependencies.

Message descriptions are stored in the msg


folder in a package. ROS messages are data
Metapackages: Packages: Message (msg) structures for sending data through ROS.
types: Message definitions are stored in a file with
the .msg extension.

Service descriptions are stored in the srv folder


Service (srv) with the .srv extension. The srv files define the
types: request and response data structure for service
in ROS.

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