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An open-source Robot Operating System ROS
- 1. ROS An open-source Robot Operating System Islam, Pahlwan Rabiul 20-91680-1 By Morgan Quigley, Brian Gerkey, Ken Conley, Josh Faust,Tully Foote, Jeremy Leibs, Eric Berger, RobWheeler, Andrew Ng
- 2. Introduction • Difficulties of writing robot software • Varying hardware • Large size of code • Beyond capabilities of a single researcher • Design Goals & Use Cases of ROS
- 3. Design Goals
- 4. Peer-to-Peer • Problems of centralized server • Heterogenous network • Multi-process | Multi-host • Unnecessary traffic flow
- 5. Multi-lingual • Individual preference for programming language • Language neutral Interface Definition Language (IDL)
- 6. Tools-based • Microkernel design • Example task of the tools • Navigate the source code tree • Get and set configuration parameters • Visualize the peer-to-peer connection topology • Measure bandwidth utilization • Graphically plot message data • Auto-generate documentation
- 7. Thin • Reusability of drivers & algorithms • Standalone libraries for drivers & algorithms • Example libraries • Navigation system • Vision algorithms • Planning algorithms
- 8. Free & Open-source • ROS is publicly available • BSD License • Allows non-commercial and commercial projects
- 9. Nomenclature • Nodes • Nodes are processes that perform computation • Messages • Nodes communicate with each other by passing messages • Topics • A node sends a message by publishing it to a given topic • Services • Request / reply is done via a service
- 10. Use Cases
- 11. Debugging a Single Node • Designed to minimize the difficulty of debugging • Node graph can be dynamically modified • Ease of inserting and removing nodes from a running ROS-based system
- 12. Logging & Playback • Generic logging and playback functionality • Command line library support
- 13. Package Subsystems • Out of the box algorithms for mature research fields • Easy set-up and tear-down of large distributed systems
- 14. Collaborative Development • Open ended packages • Code tree inspection • Package dependency search • Find packages by name
- 15. Visualization & Monitoring • Dynamic connectivity graph eases logging • Publishers and Subscribers model • Message tapping library for python
- 16. Composition of Functionality • Ease of multi-robot experiment • Inspection and Monitoring ROS graph at runtime
- 17. Transformations • ROSTransformation system library • Mapping & Localization support • Automated & Systematic approach
- 18. Conclusion • ROS philosophical goals • Peer-to-peer • Tools-based • Multi-lingual • Thin • Free and Open-Source • Variety of use cases • Hardware platforms • Research settings • Runtime requirements