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ROS (Robot Operating

System)

An Introduction

Dr. Rainer Hessmer, February 2011

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Hobby Robotics Evolution- very simplified :-)

Micro Controller Brain

Sumo

Line follower

Maze solver

Firefighting

...

Higher level logic benefits from PC

Magellan

Robot arm

... Higher level logic requires PC

LEAF

SLAM

from http://www-unix.oit.umass.edu/~blaylock/LegoRobotics/

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But soon you hit a ceilingsince ...

You develop

Your own logging

You write your own messaging infrastructure

(protocols)Your own coordinate system transformations

Your own joystick driver

Your own basic navigation logic

Your own basic vision system

...

And you never catch up

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Compare with PC Ecosystem

Standardized Layers

System software

abstracts hardware Applications leverage

other applications (e.g.database, web server)

and huge sets of libraries

Applications

System Software

Application Building Blocks

Hardware

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ROS Open Source SystemSoftware for Robotics

Robotics Applications

ROS

Hardware(PR2, Texai, etc. & your own)

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ROS

Headed up by Willow Garage(http://www.willowgarage.com)

Three years old(http://www.willowgarage.com/blog/2010/11/08/happy-3rd-anniversary-ros)

The software basis of Willow GaragesPR2

Exponential adoption

http://www.willowgarage.com/http://www.willowgarage.com/blog/2010/11/08/happy-3rd-anniversary-roshttp://www.willowgarage.com/blog/2010/11/08/happy-3rd-anniversary-roshttp://www.willowgarage.com/

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So what is it?

A 'Meta' OS. Open Source!

Sits on top of Linux (preferably Ubuntu)

Windows implementation started(http://www.ros.org/wiki/cturtle/Installation/Windows)

Agent based

Message passing

Publish / Subscribe

Service (remote operation) invocation

Package Management

Name and Parameter Services

Programming Language Support

C++

Python

Lisp?

http://www.ros.org/wiki/cturtle/Installation/Windowshttp://www.ros.org/wiki/cturtle/Installation/Windows

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ROS Navigation Stack

fromhttp://www.ros.org/wiki/navigation/Tutorials/RobotSetup

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Where is it used?

More than 50 robots use ROS(http://www.ros.org/wiki/Robots)

Including Hobby and Low-Cost PlatformsROS now runs on many lower-cost, hobby-friendly platforms. 2010 started offwith Andrew Harris providing ROS libraries for the Arduino and was quicklyfollowed by I Heart Robotics'sWowWee Rovio drivers. You can now useLego NXT robots with ROS as well asTaylor Veltrop's drivers for Roboard-equipped humanoids. Companies have also contributed: Vanadium Labsprovided ROS drivers for their ArbotiX line of robocontrollers.

The ROS iRobot Create/Roomba community has also expanded greatly this

year, with many institutions and individuals now providing drivers andlibraries: Brown's RLAB, CU Boulder's Correll Lab, Aptima, Stanford, OTL, andISR - University of Coimbra.

From:http://www.willowgarage.com/blog/2010/11/08/happy-3rd-anniversary-ros

http://www.ros.org/wiki/Robotshttp://www.ros.org/news/2010/01/arduino-and-cmucam3-support-for-ros.htmlhttp://iheartrobotics.com/http://www.ros.org/news/2010/03/rovio-driver-for-ros.htmlhttp://www.ros.org/news/2010/08/robots-using-ros-lego-nxt.htmlhttp://www.ros.org/news/2010/10/ros-repository-for-roboard-and-humanoids-now-available.htmlhttp://www.roboard.com/http://www.vanadiumlabs.com/ros.htmlhttp://code.google.com/p/vanadium-ros-pkg/http://www.ros.org/wiki/vanadium-ros-pkghttp://code.google.com/p/brown-ros-pkg/http://www.ros.org/wiki/prairiedoghttp://code.google.com/p/aptima-ros-pkghttp://www.ros.org/browse/details.php?name=icreatehttp://www.ros.org/wiki/otl-ros-pkghttp://code.google.com/p/isr-uc-ros-pkg/http://www.willowgarage.com/blog/2010/11/08/happy-3rd-anniversary-roshttp://www.willowgarage.com/blog/2010/11/08/happy-3rd-anniversary-roshttp://code.google.com/p/isr-uc-ros-pkg/http://www.ros.org/wiki/otl-ros-pkghttp://www.ros.org/browse/details.php?name=icreatehttp://code.google.com/p/aptima-ros-pkghttp://www.ros.org/wiki/prairiedoghttp://code.google.com/p/brown-ros-pkg/http://www.ros.org/wiki/vanadium-ros-pkghttp://code.google.com/p/vanadium-ros-pkg/http://www.vanadiumlabs.com/ros.htmlhttp://www.roboard.com/http://www.ros.org/news/2010/10/ros-repository-for-roboard-and-humanoids-now-available.htmlhttp://www.ros.org/news/2010/08/robots-using-ros-lego-nxt.htmlhttp://www.ros.org/news/2010/03/rovio-driver-for-ros.htmlhttp://iheartrobotics.com/http://www.ros.org/news/2010/01/arduino-and-cmucam3-support-for-ros.htmlhttp://www.ros.org/wiki/Robots

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Key Concepts

roscore: Name and Parameter server;singleton

Package: A virtual directory holding one or

more executables (nodes) Node: An agent communicating with ROS and

other nodes via

Topics (publish / subscribe) using typed messages

Services: Request / Response paradigm (think ofmethod or operation) via typed messages

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Python ImplementationDemo

Source available at: http://code.google.com/p/drh-robotics-ros/

http://code.google.com/p/drh-robotics-ros/http://code.google.com/p/drh-robotics-ros/

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Communication Graph

rxgraph

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Questions?