Download - ROS Overview - Málaga 2012
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Pablo Iñigo BlascoGrupo de Investigación RTCAR
Robotica y Tecnología de ComputadoresUniversidad de Sevilla
Platform OverviewSeminario para el grupo MAPIR Marzo 2012
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Contents
● Overview● ROS Principles● ROS History● Applications● Community and Software Federation● Pros and Cons
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ROS Overview
“ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. It also provides tools and libraries for obtaining, building, writing, and running code across multiple computers”
● As technology it can be sen as:● Robotic Development Platform● Integration Software Framework for complex robotics systems
● Even Further “It is a initiative or to promote Robotics” ● Technology● Conveys and Data Standardization● Open Community
–
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ROS Overview (II) - Target
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ROS Overview (III) - Principles
● Software Integration over Development● Open source● Federation of development groups ● Online community
● Homogeneous and unified documentation (Wiki)● Social networks, blogs & mailing lists
● Scientific approach (promoting research)● Share knowledge (Interns, talks, conferences, etc.)● Multiple product vision: Research, Academic & Market
(service robotics, ¿industrial?)
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Some Supported Robots
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The PR2 Robot
● Fold Towels● Open Doors● Opening Drawers● Fetch Beers● Plug In● Recycling trash● Play Hannoy Towers● Cart Pushing
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ROS Overview (III) Main Features
● Distributed Components● Main operative System: Linux, MacOS, (low support
for windows)● Programming Languages
● High Support for C++, python● Lower Support Lisp, Java, Octave, others.
● Platforms: X86 y ARM● Integrating popular packages: OpenCV, Eigen, Bullet,
OROCOS (KDL, BFL), OpenSLAM, OpenRave, Stage and Gazebo, PCL, ¿¿MRPT??
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ROS History (I) Background
● Willow Garage ● Origin - Stanford University and Research Institute● Spin-off ● Silicon – Valley Area
● Some Researchers● Gary Bradski● Kurt Konolige● Brian P. Gerkey● Radu Bogdan Rusu
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ROS History (II) - Evolution
Gracias por los contenidos Creative Commons de la web de ROS y de las transparencias creadas por "Radu Bogdan Rusu" para el evento: "
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Robotic Software Repository Federation
Stats (March 2012):● 2363+ Documented Packages ● 100+ Federated Repositories (90+ Institutions)● Main repositories maintained by Willow Garage● Other important institutions with repositories:
● CMU, TUM, MIT, PENN ...● Unified WIKI and Documentation at
http://www.ros.org
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Software Organization
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Examples of Package Contents
● Meta Information (manifest)
● Components (Nodes or launch)
● Libraries
● Tools (every kind)
● Datasets
● Third Party Adapters
● Message Definitions
● Service Definitions
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Advantages
● For developers and research groups: visibility
● Many people know how to use your packages
● Focus effort on research → don't reinvent the wheel
● Learn robotics by example● Checking others code● Reading others doc
● Promotes conveys, methodologies for general robotic software development
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Disadvantages
● Change the development philosophy:● Forget the “reinvent the wheel” - go to The Integration Paradigm● But The integration cost is not zero
– Read packages documentation– Check third party code
● In Spite of everything → Development Bazaar ● Many development groups● Non-Uniform development methodologies
● Too Linux system focused (little support for windows or RT systems)● Not very good for real time applications (custom solutions are needed)● Several package alternatives for the same development target● You have to learn a lot of usefulness stuff for very single projects
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References
(1) Quigley, Morgan, Brian Gerkey, Ken Conley, Josh Faust, Tully Foote, Jeremy Leibs, Eric Berger, Rob Wheeler, and Andrew Ng. 2009. ROS: an open-source Robot Operating System. In Open-Source Software workshop of the International Conference on Robotics and Automation (ICRA).
(2) Iñigo-Blasco, Pablo, Fernando Diaz-del-Rio, Ma Carmen Romero-Ternero, Daniel Cagigas-Muñiz, and Saturnino Vicente-Diaz. 2012. “Robotics software frameworks for multi-agent robotic systems development” Robotics and Autonomous Systems (February).
(3) ROS WIKI - www.ros.org
(4) CoTeSys-ROS Fall School on Cognition-enabled Mobile Manipulation.