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Introduction Slides

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Harsha Ky354
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4 views

Introduction Slides

Uploaded by

Harsha Ky354
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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240AR060 – Introduction to ROS Jan Rosell / Leopold Palomo

1. Introduction
1. What is ROS?

A middleware is a computer software that connects software components or applications (middleware


sits “in the middle” between software applications that may be run on different operating systems).

Middleware is useful for:


• Portability: they offer a common programming model across languages and/or platforms.
• Reliability: they are developed and tested separately from the final application.
• Managing complexity: low-level aspects are managed by suitable libraries that abstract specific
operating system and hardware aspects.

Robotic systems are usually complex systems built on many different hardware and software
components, as sensors and actuators as well as planners and control algorithms.

The use of a robotic middleware allows different components to exchange data using a common
communication channel and using interfaces that are consistent between different applications.

This eases the sharing and reuse of code among different projects (as an example, if you need to switch
from a proximity sensor to another, it is possible to write a new component that share the same
interface and update it without modifying the rest of the application).

Master's degree in Automatic Control and Robotics


240AR060 – Introduction to ROS Jan Rosell / Leopold Palomo

1. Introduction
1. What is ROS?
"The Robot Operating System (ROS) is a flexible framework for writing robot software.
It is a collection of tools, libraries, and conventions that aim to simplify the task of creating
complex and robust robot behavior across a wide variety of robotic platforms."

ROS provides hardware abstraction,


device drivers,
libraries, ROS is licensed under
visualizers, an open source, BSD
message-passing, license.
package management, and more...

Which main issues ROS helps to resolve?


Master's degree in Automatic Control and Robotics
240AR060 – Introduction to ROS Jan Rosell / Leopold Palomo

1. Introduction
1. What is ROS?
Distributed computation: Many modern robot systems rely on software that spans many different
processes and runs across several different computers.
• ROS covers the need for communication between multiple processes that may or may not live on
the same computer.
• ROS’s message passing interface is becoming a de facto standard for robot software
interoperability

Software reuse: The rapid progress of robotics research has resulted in a growing collection of good
algorithms for common tasks such as navigation, motion planning, mapping, and many others.
• ROS’s standard packages provide stable, debugged implementations of many important robotics
algorithms.

Rapid testing: The testing of real robotic systems applications can be time consuming and error-prone.
• ROS facilitates the separation of high-level processing and decision making programs from the
low-level direct control of the hardware, which can be temporarily replaced by a simulator.
• ROS also provides a simple way to record and play back sensor data and other kinds of message.
The real robot, the simulator, and the bag playback mechanism can all provide identical (or at least very
similar) interfaces.
Master's degree in Automatic Control and Robotics
240AR060 – Introduction to ROS Jan Rosell / Leopold Palomo

1. Introduction
1. What is ROS?

ROS is not:
• An actual operating system
Although it offers services you would expect from an operating system, including
hardware abstraction, low-level device control, implementation of commonly-used
functionality, message-passing between processes, and package management.
• A programming language
ROS programs are written in C++ and client libraries are also available in Python,
Java, Lisp,…
• A programming environment / IDE
It is common to simply use a text editor and the command line, without any IDE.
• A hard real-time architecture
ROS is fast, and is used for online operation in many robots, it is inherently best-effort
in many cases, and does not provide guarantees about the timing of operations
(should not use ROS for operations that have strict timing requirements).

Master's degree in Automatic Control and Robotics


240AR060 – Introduction to ROS Jan Rosell / Leopold Palomo

1. Introduction
2. Levels of development

Initially

Currently maintained by
open robotics
http://www.openrobotics.org

Master's degree in Automatic Control and Robotics


240AR060 – Introduction to ROS Jan Rosell / Leopold Palomo

1. Introduction
2. Levels of development

ROS core components:


1. Communication infrastructure
2. Robot-specific features
3. Tools

Master's degree in Automatic Control and Robotics

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