Robotic Operating System

Mohammad Reza Karimi Dastjerdi

Spring 2014

An Introduction to

Table Of Contents

2

• Introduction

• Solution

• What’s ROS?

• Supported Operating Systems And Robots

• Why ROS?

• History

• Concepts

• Tools

• Rqt

• ROS Network

• Rviz

• Gazebo

• An Example

• ROS Community

• ROS , After Five Years

• Article

• References

Introduction

3

Solution

4

What’s ROS?

5

• collection of software frameworks for robot software development

• providing operating system-like functionality

hardware abstraction

low-level device control

message-passing between processes

package management

Applications

Application Building Blocks

System Software

Hardware Hardware

ROS

Robotics Applications

Supported Operating Systems And Robots

6

Supported:

Experimental:

Robots:

PR2Husky

TurtleBot Kobuki

Dr. Robot Jaguar V4

Why ROS?

7

• A Distributed, Modular Design

• A Vibrant Community

• Permissive Licensing

• A Collaborative Environment

• Integrated with :

8

Is Ros For Anyone?

Yes , It is!

History

9

• May 1, 2007 — September 1, 2007 - Switchyard at Stanford• November 1, 2007 - ROS at Willow Garage• January 1, 2009 - ROS 0.4 Release• January 22, 2010 - ROS 1.0• March 1, 2010 - ROS Box Turtle Release• June 29, 2010 - 11 PR2s Ship to Beta Program Recipients• August 3, 2010 - ROS C Turtle Release• February 15, 2011 - ROS Answers Debuts• March 2, 2011 - ROS Diamondback Release• April 18, 2011 - TurtleBot Launch• August 30, 2011 - ROS Electric Emys Release• April 23, 2012 - ROS Fuerte Release• September 17, 2012 - Rethink Robotics Releases Baxter• December 31, 2012 - ROS Groovy Galapagos Release• February 11, 2013 – ROS moves to the Open Source Robotics Foundation• March 20, 2013 - ROS-Industrial Consortium kicks off• September 9, 2013 – ROS Hydro Medusa Release

Concepts

10

• Node

• Message

• Publisher/Subscriber

• Service

Node A Node B/topic

Publisher Subscriber

Node A Node B

/Request

Server Client

/Response

Tools

11

• Rqt

• Ros network

• Rviz

• Gazebo

Rqt

12

• software framework of ROS

• implements the various GUI tools

ROS Network

13

• ROS is a distributed computing environment

Rviz

14

• 3D visualization tool

Gazebo

15

• multi-robot simulator

An Example

16

ROS Community

17

ROS , After Five Years

18

Article

19

• Community-Driven Development of Standard Software Modules for Search and Rescue Robots

In: Proceedings of the 10th IEEE International Symposium on Safety Security and Rescue Robotics , 2012

References

• JasonM. O’Kane, “A Gentle Introduction to ROS”

• Aaron Martinez ,Enrique Fernández, “Learning ROS for Robotics Programming” Published by PacktPublishing Ltd.

• Morgan Quigley, Brian Gerkeyy, Ken Conleyy, Josh Fausty, Tully Foote, “ROS: an open-source Robot Operating System” , Computer Science Department, Stanford University, Stanford, CA

• www.ros.org

• http://en.wikipedia.org/wiki/Robot_Operating_System

• http://www.gkmm.tu-darmstadt.de/rescue/

• http://gazebosim.org/wiki/Overview

• http://en.wikipedia.org/wiki/BSD_licenses

20

21

Any Question?

Thank You!

22

This presentation is available on : www.kn2c.ir