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ROS O N T H E R O C K S January 2014 ROS ROS O N T H E - PowerPoint PPT Presentation

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ROS O N T H E R O C K S January 2014 ROS ROS O N T H E R O C K S O N T H E R O C K S January 2014 RoadNarrows Robotics Designing Robotics and Intelligent Systems RoadNarrows Robotics Designing Robotics and Intelligent

  1. ROS O N T H E R O C K S January 2014

  2. ROS ROS O N T H E R O C K S O N T H E R O C K S January 2014

  3. RoadNarrows Robotics Designing Robotics and Intelligent Systems

  4. RoadNarrows Robotics Designing Robotics and Intelligent Systems Presenting: A Practical Introduction to ROS Featuring: the Hekateros Manipulator Daniel Packard - January 2014

  5. What is ROS? 5 ROS on the Rocks! - Jan 2014

  6. What is ROS? ROS is the: R obot O perating S ystem 6 ROS on the Rocks! - Jan 2014

  7. What is ROS? ROS is the: R obot O perating S ystem …but not really an operating system. 7 ROS on the Rocks! - Jan 2014

  8. What is ROS? ROS is the: R obot O perating S ystem …but not really an operating system. ROS is a software framework for developing advanced robotic systems. 8 ROS on the Rocks! - Jan 2014

  9. Anatomy of a Robot 9 ROS on the Rocks! - Jan 2014

  10. Anatomy of a Robot Sensors Actuators Processors 10 ROS on the Rocks! - Jan 2014

  11. Anatomy of a Robot Abstract Software Components (perception, cognition, planners) Sensors Actuators Processors 11 ROS on the Rocks! - Jan 2014

  12. Anatomy of a Robot Abstract Software Components (cognition, perception, planners) Sensors Actuators Processors 12 ROS on the Rocks! - Jan 2014

  13. Anatomy of a Robot Abstract Software Components (cognition, perception, planners) Sensors Actuators Processors 13 ROS on the Rocks! - Jan 2014

  14. Anatomy of a Robot Abstract Software Components (cognition, perception, planners) Sensors Actuators Processors 14 ROS on the Rocks! - Jan 2014

  15. Anatomy of a Robot Abstract Software Components (cognition, perception, planners) Sensors Actuators Processors 15 ROS on the Rocks! - Jan 2014

  16. Anatomy of a Robot Abstract Software Components (cognition, perception, planners) 16 ROS on the Rocks! - Jan 2014

  17. Anatomy of a Robot Abstract Software Components (perception, cognition, planners) 17 ROS on the Rocks! - Jan 2014

  18. Enter ROS ROS helps you structure your robotics applications. 18 ROS on the Rocks! - Jan 2014

  19. Enter ROS The basic unit of a ROS application is a ROS node … 19 ROS on the Rocks! - Jan 2014

  20. Enter ROS The basic unit of a ROS application is a ROS node … Node 20 ROS on the Rocks! - Jan 2014

  21. Enter ROS The basic unit of a ROS application is a ROS node … Node 21 ROS on the Rocks! - Jan 2014

  22. Enter ROS The basic unit of a ROS application is a ROS node … Node 22 ROS on the Rocks! - Jan 2014

  23. Enter ROS The basic unit of a ROS application is a ROS node … Node … ROS is the communication framework that ties multiple ROS nodes together 23 ROS on the Rocks! - Jan 2014

  24. Communicating Nodes Compose your complex robotic system out of independent, but communicating “ROS Nodes”. Request NODE 1 NODE 2 Response Subscribe h s i l b u P Topic 1 Subscribe NODE 3 24 ROS on the Rocks! - Jan 2014

  25. Communicating Nodes Compose your complex robotic system out of independent, but communicating “ROS Nodes”. Services Request NODE 1 NODE 2 Response Subscribe Publish Topic 1 Subscribe NODE 3 25 ROS on the Rocks! - Jan 2014

  26. Communicating Nodes Compose your complex robotic system out of independent, but communicating “ROS Nodes”. Request NODE 1 NODE 2 Response S Publish u b s c r i b e Publish & Topic 1 Subscribe e b i r c s b u S NODE 3 26 ROS on the Rocks! - Jan 2014

  27. Communicating Nodes Compose your complex robotic system out of independent, but communicating “ROS Nodes”. Request NODE 1 NODE 2 Response Subscribe h s i l b u P Topic 1 Subscribe NODE 3 Action Servers 27 ROS on the Rocks! - Jan 2014

  28. What is ROS? ROS is a framework for developing complex robotics applications through the composition of simple, communicating software components called nodes . 28 ROS on the Rocks! - Jan 2014

  29. Why do we love ROS? ● Encourages code reuse ● Promotes the use of standards ● Free and Open Source ● Builds community !!! 29 ROS on the Rocks! - Jan 2014

  30. Node Examples! Simple publisher “Hello ROS!” hello_publisher /hello 30 ROS on the Rocks! - Jan 2014

  31. Node Examples! Simple publisher “Hello ROS!” hello_publisher /hello Node 31 ROS on the Rocks! - Jan 2014

  32. Node Examples! Simple publisher Message “Hello ROS!” hello_publisher /hello Node 32 ROS on the Rocks! - Jan 2014

  33. Node Examples! Simple publisher Message “Hello ROS!” hello_publisher /hello Node Topic 33 ROS on the Rocks! - Jan 2014

  34. Node Examples! Simple publisher Message “Hello ROS!” hello_publisher /hello Node Topic rostopic pub /hello std_msgs/String “Hello ROS!” -r1 34 ROS on the Rocks! - Jan 2014

  35. Node Examples! Simple subscriber /hello hello_subscriber Topic Node rostopic echo /hello 35 ROS on the Rocks! - Jan 2014

  36. Node Examples! pub/sub pub /hello sub 36 ROS on the Rocks! - Jan 2014

  37. Node Examples! pub/sub larry curly /hello shemp moe 37 ROS on the Rocks! - Jan 2014

  38. Node Examples! pub/sub larry shemp1 curly /hello shemp2 moe 38 ROS on the Rocks! - Jan 2014

  39. Real Examples! 39 ROS on the Rocks! - Jan 2014

  40. Real Examples! 40 ROS on the Rocks! - Jan 2014

  41. Real Examples! 41 ROS on the Rocks! - Jan 2014

  42. Real Examples! /state 42 ROS on the Rocks! - Jan 2014

  43. Real Examples! ping set_led set_rumble /state 43 ROS on the Rocks! - Jan 2014

  44. Real Examples! ping set_led set_rumble /state /rumble_cmd 44 ROS on the Rocks! - Jan 2014

  45. Real Examples! make_move start_game resign_game /state /moves 45 ROS on the Rocks! - Jan 2014

  46. Real Examples! make_move calibrate resign_game /brake /state /trajectory /status /speed 46 ROS on the Rocks! - Jan 2014

  47. The big take-aways Compose your complex robotic system out of independent, but communicating “ROS Nodes”. Request NODE 1 NODE 2 Response Subscribe h s i l b u P Topic 1 Subscribe NODE 3 47 ROS on the Rocks! - Jan 2014

  48. The big take-aways Compose your complex robotic system out of independent, but communicating “ROS Nodes”. Request NODE 1 NODE 2 Response Subscribe h s i l b u P Topic 1 ● code reuse Subscribe ● s tandards NODE 3 ● o pen source ● community ! 48 ROS on the Rocks! - Jan 2014

  49. The big take-aways http://ros.org http://github.com/roadnarrows-robotics http://github.com/pack3754 49 ROS on the Rocks! - Jan 2014

  50. Bonus material: ROS Bridge Ok - but what about integrating my ROS application with external resources? 50 ROS on the Rocks! - Jan 2014

  51. Bonus material: ROS Bridge Ok - but what about integrating my ROS application with external resources? ROS 51 ROS on the Rocks! - Jan 2014

  52. Bonus material: ROS Bridge Ok - but what about integrating my ROS application with external resources? ROS Web Browsers Simulink Wolfram Engine OpenCog 52 ROS on the Rocks! - Jan 2014

  53. Bonus material: ROS Bridge Ok - but what about integrating my ROS application with external resources? ROS Web Browsers Simulink Wolfram Engine OpenCog 53 ROS on the Rocks! - Jan 2014

  54. Bonus material: ROS Bridge Ok - but what about integrating my ROS application with external resources? ROS Web Browsers Simulink Wolfram Engine OpenCog ROS Bridge 54 ROS on the Rocks! - Jan 2014

  55. Bonus material: ROS Bridge Ok - but what about integrating my ROS application with external resources? ROS Web Browsers Simulink Wolfram Engine ROS Bridge provides a json RPC OpenCog interface for communicating with arbitrary port-based applications. ROS Bridge 55 ROS on the Rocks! - Jan 2014

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