COMP 50: Autonomous Today Intelligent Robotics Introduction to ROS - - PDF document

COMP 50: Autonomous Intelligent Robotics

Instructor: Jivko Sinapov

http://www.cs.tufts.edu/comp/50AIR/

Today

• Introduction to ROS and Linux
• Shakey: The first “intelligent” robot

(documentary)

• Preview of Homework 2

Announcements

• Trunk page is up (overview)

Getting Started with ROS

• Get Ubuntu 14.04 LTS

– Dual boot – Virtual machine – ROS Development Studio (on the cloud)

• Check your architecture (32 bit or 64 bit) and

download the appropriate .iso file

• Beginner’s guide to Ubuntu Linux:

– http://www.makeuseof.com/tag/ubuntu-an-absolute-

beginners-guide/

Installing ROS

• There is no need to install anything if you’re

using the cloud-based RDS

• Install ROS indigo:

– http://wiki.ros.org/indigo/Installation/Ubuntu

What is ROS?

What is ROS?

“ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license.”

First Steps in ROS

• Tutorials:

– http://wiki.ros.org/ROS/Tutorials

• Turtlesim:

– http://wiki.ros.org/turtlesim

[https://www.youtube.com/watch?v=E9TJ0c8ufzM]

Overview of the Linux Shell Overview of ROS Tutorials ROS Nodes and Topics

Preview of Homework 2

• ROS Tutorials: 1 through 20
• Most important ones: 3 to 8, and 10 to 16

Shakey (1966)

[photo credit: SRI International]

Video (~25 min) Discussion

• Is Shakey “intelligent”?
• If so, in what ways?
• What has changed since the development of

Shakey? What hasn’t?

• Where does Shakey’s “intelligence” come

from?