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ROS – Robot Operating System AM1: Humanities Computing vs. Humanities Computer Science I Re-usable...
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![Page 1: ROS – Robot Operating System AM1: Humanities Computing vs. Humanities Computer Science I Re-usable Content in 3D und Simulationssystemen Dozent: Herr Prof.](https://reader036.fdocuments.us/reader036/viewer/2022070507/570491c01a28ab14218d8eb0/html5/thumbnails/1.jpg)
ROS – Robot Operating System
AM1: Humanities Computing vs. Humanities Computer Science IRe-usable Content in 3D und SimulationssystemenDozent: Herr Prof. Dr. Manfred ThallerReferent: Annick PetersSS 2013
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Was ist ROS? Robot Operating System
Meta-Betriebssystem zur
Roboterprogrammierung
Open Source Produkt
→ Hardware Abstraktion, Gerätetreiber,
Bibliotheken, Visualisierungsmöglichkeiten,
Nachrichtenvermittlung, Paketmanagement
uvm.
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Kommunikationsarten
synchrone Kommunikation
asynchrones Streamen
Datenspeicher auf Parameter Server
kein Echtzeit Framework
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Ziele Wiederverwendung von Code Kopplung individueller Komponenten Zusammenarbeit über verteilte Infrastrukturen Thin: ROS Code Kombination auch mit anderen
Systemen ROS-agnostic libraries: Bibliotheken Language independence: Implentierung in
moderne Programmiersprachen Easy testing Scaling
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Betriebssysteme
Unix-basierte Plattformen
Ubuntu Max OS X
Fedora, Gentoo u.a. Linux Systeme
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Konzepte
Dateisystem
Computation Graph
Community
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Dateisystem Packages:
Nodes (Laufzeitprozesse) Bibliotheken Datensätze Konfigurationsdateien
Manifest (manifest.xml): Metadaten Stacks: Sammlung von Paketen Stack manifest: Metadaten zum Stack Message und service types
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Computation Graph Peer-to-Peer Netzwerk von ROS
Prozessen Nodes Master Parameter Server Messages Topics Services Bags
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ROS Community
Distributions Repositories ROS Wiki Bug Ticket System Mailing Lists ROS Antworten Blog
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ROS Wiki Suche Documentation Software News
ROS Überblick Tutorials
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Video
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Vielen Dank für eure Aufmerksamkeit!
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Quellen
www.ros.org/wiki/
http://www.youtube.com/watch?feature=player_embedded&v=2We5_Qeapbc