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 - - PowerPoint PPT Presentation

Mar 25, 2023 465 likes •1.03k views

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

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January 2014

O N T H E R O C K S

ROS

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January 2014

O N T H E R O C K S

ROS

O N T H E R O C K S

ROS

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SLIDE 3

RoadNarrows Robotics

Designing Robotics and Intelligent Systems

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RoadNarrows Robotics

Designing Robotics and Intelligent Systems Presenting: A Practical Introduction to ROS

Featuring: the Hekateros Manipulator Daniel Packard - January 2014

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What is ROS?

ROS on the Rocks! - Jan 2014 5

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What is ROS?

ROS is the: Robot Operating System

ROS on the Rocks! - Jan 2014 6

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What is ROS?

ROS is the: Robot Operating System

ROS on the Rocks! - Jan 2014

…but not really an operating system.

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What is ROS?

ROS is the: Robot Operating System

ROS on the Rocks! - Jan 2014

ROS is a software framework for developing advanced robotic systems.

…but not really an operating system.

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Anatomy of a Robot

ROS on the Rocks! - Jan 2014 9

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Anatomy of a Robot

ROS on the Rocks! - Jan 2014 Sensors Actuators Processors 10

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Anatomy of a Robot

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

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Anatomy of a Robot

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

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Anatomy of a Robot

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

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Sensors Actuators Processors

Anatomy of a Robot

ROS on the Rocks! - Jan 2014 Abstract Software Components (cognition, perception, planners) 14

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Sensors Actuators Processors

Anatomy of a Robot

ROS on the Rocks! - Jan 2014 Abstract Software Components (cognition, perception, planners) 15

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Anatomy of a Robot

ROS on the Rocks! - Jan 2014 Abstract Software Components (cognition, perception, planners) 16

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Anatomy of a Robot

ROS on the Rocks! - Jan 2014 Abstract Software Components (perception, cognition, planners) 17

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Enter ROS

ROS on the Rocks! - Jan 2014

ROS helps you structure your robotics applications.

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Enter ROS

ROS on the Rocks! - Jan 2014

The basic unit of a ROS application is a ROS node…

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Enter ROS

ROS on the Rocks! - Jan 2014

The basic unit of a ROS application is a ROS node…

Node 20

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Enter ROS

ROS on the Rocks! - Jan 2014

The basic unit of a ROS application is a ROS node…

Node 21

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Enter ROS

ROS on the Rocks! - Jan 2014

The basic unit of a ROS application is a ROS node…

Node 22

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Enter ROS

ROS on the Rocks! - Jan 2014

The basic unit of a ROS application is a ROS node… … ROS is the communication framework that ties multiple ROS nodes together

Node 23

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Communicating Nodes

ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe P u b l i s h NODE 3 Subscribe

Compose your complex robotic system out of independent, but communicating “ROS Nodes”.

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Communicating Nodes

ROS on the Rocks! - Jan 2014 NODE 1 NODE 2

Request Response

Topic 1

Subscribe Publish

NODE 3

Subscribe

Services

Compose your complex robotic system out of independent, but communicating “ROS Nodes”.

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Communicating Nodes

ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response

Topic 1 S u b s c r i b e Publish

NODE 3

S u b s c r i b e

Publish & Subscribe

Compose your complex robotic system out of independent, but communicating “ROS Nodes”.

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Communicating Nodes

ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe P u b l i s h NODE 3 Subscribe

Action Servers

Compose your complex robotic system out of independent, but communicating “ROS Nodes”.

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What is ROS?

ROS on the Rocks! - Jan 2014

ROS is a framework for developing complex robotics applications through the composition of simple, communicating software components called nodes.

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Why do we love ROS?

ROS on the Rocks! - Jan 2014

  • Encourages code reuse
  • Promotes the use of standards
  • Free and Open Source
  • Builds community!!!

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Node Examples!

ROS on the Rocks! - Jan 2014

hello_publisher /hello

“Hello ROS!”

Simple publisher

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Node Examples!

ROS on the Rocks! - Jan 2014

hello_publisher /hello

“Hello ROS!” Node

Simple publisher

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Node Examples!

ROS on the Rocks! - Jan 2014

hello_publisher /hello

“Hello ROS!” Node Message

Simple publisher

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Node Examples!

ROS on the Rocks! - Jan 2014

hello_publisher /hello

“Hello ROS!” Node Message Topic

Simple publisher

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Node Examples!

ROS on the Rocks! - Jan 2014

hello_publisher /hello

“Hello ROS!” Node Message Topic

Simple publisher

rostopic pub /hello std_msgs/String “Hello ROS!” -r1 34

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Node Examples!

ROS on the Rocks! - Jan 2014 Node Topic

Simple subscriber

rostopic echo /hello

hello_subscriber /hello

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Node Examples!

ROS on the Rocks! - Jan 2014

pub/sub /hello pub sub

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Node Examples!

ROS on the Rocks! - Jan 2014

pub/sub /hello curly shemp moe larry

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Node Examples!

ROS on the Rocks! - Jan 2014

pub/sub /hello curly shemp1 moe larry shemp2

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Real Examples!

ROS on the Rocks! - Jan 2014 39

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Real Examples!

ROS on the Rocks! - Jan 2014 40

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Real Examples!

ROS on the Rocks! - Jan 2014 41

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Real Examples!

ROS on the Rocks! - Jan 2014

/state

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Real Examples!

ROS on the Rocks! - Jan 2014

/state

set_led ping set_rumble 43

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Real Examples!

ROS on the Rocks! - Jan 2014

/state

/rumble_cmd

set_led ping set_rumble 44

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Real Examples!

ROS on the Rocks! - Jan 2014

/state

/moves

start_game make_move resign_game 45

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Real Examples!

ROS on the Rocks! - Jan 2014

/state

/trajectory

calibrate make_move resign_game

/speed /brake

/status

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The big take-aways

ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe P u b l i s h NODE 3 Subscribe

Compose your complex robotic system out of independent, but communicating “ROS Nodes”.

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The big take-aways

ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe P u b l i s h NODE 3 Subscribe

Compose your complex robotic system out of independent, but communicating “ROS Nodes”.

  • code reuse
  • standards
  • open source
  • community!

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The big take-aways

ROS on the Rocks! - Jan 2014

http://ros.org http://github.com/roadnarrows-robotics http://github.com/pack3754

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Bonus material: ROS Bridge

ROS on the Rocks! - Jan 2014

Ok - but what about integrating my ROS application with external resources?

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Bonus material: ROS Bridge

ROS on the Rocks! - Jan 2014

Ok - but what about integrating my ROS application with external resources? ROS

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Bonus material: ROS Bridge

ROS on the Rocks! - Jan 2014

Ok - but what about integrating my ROS application with external resources?

Web Browsers Wolfram Engine OpenCog Simulink

ROS

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Bonus material: ROS Bridge

ROS on the Rocks! - Jan 2014

Ok - but what about integrating my ROS application with external resources?

Web Browsers Wolfram Engine OpenCog Simulink

ROS

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Bonus material: ROS Bridge

ROS on the Rocks! - Jan 2014

Ok - but what about integrating my ROS application with external resources?

Web Browsers Wolfram Engine OpenCog Simulink

ROS ROS Bridge

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Bonus material: ROS Bridge

ROS on the Rocks! - Jan 2014

Ok - but what about integrating my ROS application with external resources?

Web Browsers Wolfram Engine OpenCog Simulink

ROS ROS Bridge

ROS Bridge provides a json RPC interface for communicating with arbitrary port-based applications. 55