Open Source Robotics with ROS - Robot Operating …...What is ROS? Robot Operating System / Robot...
Transcript of Open Source Robotics with ROS - Robot Operating …...What is ROS? Robot Operating System / Robot...
Open Source Robotics with ROS
Mrinal Kalakrishnan
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Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 1 / 14
What is ROS?
Robot Operating System / Robot Open Source
A “meta-operating system”
“The Linux of robotics”
Goal: Improve robotics researchLeverage the work of othersReplication of results - good science!Time to productivity:
vs
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 2 / 14
What is ROS?
Robot Operating System / Robot Open Source
A “meta-operating system”
“The Linux of robotics”
Goal: Improve robotics researchLeverage the work of othersReplication of results - good science!Time to productivity:
vs
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 2 / 14
What can ROS do?
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 3 / 14
What features does ROS have?
Core Functionality (ros):Message-passing InfrastructurePackage ManagementBuild System, Logging, Testing
Everything else (ros-pkg):Hardware AbstractionLow-level Device ControlSimulators/VisualizersMath/Geometry LibrariesRobotics!
Originally developed at Stanford,currently maintained by WillowGarage
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 4 / 14
What features does ROS have?
Core Functionality (ros):Message-passing InfrastructurePackage ManagementBuild System, Logging, Testing
Everything else (ros-pkg):Hardware AbstractionLow-level Device ControlSimulators/VisualizersMath/Geometry LibrariesRobotics!
Originally developed at Stanford,currently maintained by WillowGarage
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 4 / 14
What features does ROS have?
Core Functionality (ros):Message-passing InfrastructurePackage ManagementBuild System, Logging, Testing
Everything else (ros-pkg):Hardware AbstractionLow-level Device ControlSimulators/VisualizersMath/Geometry LibrariesRobotics!
Originally developed at Stanford,currently maintained by WillowGarage
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 4 / 14
ROS: Distributed Development
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 5 / 14
We don’t reinvent the wheel. . .
OpenCV - Computer Vision
Eigen - Matrix Algebra
ODE+Gazebo - Robot Simulator
KDL - Kinematics and Dynamics
TREX - High Level Planning
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 6 / 14
Distributed Processes
Move computation around the network
Loose coupling between “nodes”
Modularity
License boundaries
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 7 / 14
Messages, Topics, Services
Message Language-independent data structure
Topic A “channel” on which nodes publish and subscribe to messages
Service Request/reply style communication
Client Librariesroscpp, rospy, rosoct, roslisp, rosjava
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 8 / 14
Messages, Topics, Services
Message Language-independent data structure
Topic A “channel” on which nodes publish and subscribe to messages
Service Request/reply style communication
Client Librariesroscpp, rospy, rosoct, roslisp, rosjava
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 8 / 14
Messages, Topics, Services
Message Language-independent data structure
Topic A “channel” on which nodes publish and subscribe to messages
Service Request/reply style communication
Client Librariesroscpp, rospy, rosoct, roslisp, rosjava
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 8 / 14
Messages, Topics, Services
Message Language-independent data structure
Topic A “channel” on which nodes publish and subscribe to messages
Service Request/reply style communication
Client Librariesroscpp, rospy, rosoct, roslisp, rosjava
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 8 / 14
Visualizer
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 9 / 14
General Robot Description
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 10 / 14
General Robot Description
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 10 / 14
General Robot Description
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 10 / 14
Let’s Hack!
<Demo featuring a Nokia N900 phone accelerometer controlling a simulatedPR2 in gazebo>
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 11 / 14
Willow Garage Intern Challenge
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 12 / 14
Conclusions
Open Source, yet commercial-friendly
Federated development model
Growing community
Documentation, code, wiki, mailing lists are athttp://www.ros.org/
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 13 / 14
Acknowledgements
Steve Cousins, Brian Gerkey - ideas for slides
Sunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo
Willow Garage - travel funding
Thank you!
Questions?Contact: [email protected]
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 14 / 14
Acknowledgements
Steve Cousins, Brian Gerkey - ideas for slides
Sunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo
Willow Garage - travel funding
Thank you!
Questions?Contact: [email protected]
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 14 / 14