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Daniel Packard
April 07, 2014
Technology
0
47
ros-on-the-rocks-thursday-april-17
An abbreviated introduction to the ROS framework.
Daniel Packard
April 07, 2014
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Transcript
O N T H E R O C K S
ROS April 2014
April 2014 O N T H E R O C
K S ROS O N T H E R O C K S ROS
What is ROS?
What is ROS? ROS is the: Robot Operating System
What is ROS? … but it’s not really an operating
system ROS is the: Robot Operating System
What is ROS? ROS is a software framework for developing
advanced robotic systems. … but it’s not really an operating system ROS is the: Robot Operating System
Anatomy of a Robot
Anatomy of a Robot Sensors Actuators Processors
Anatomy of a Robot
Anatomy of a Robot
Enter ROS ROS helps you structure your robotics applications.
Enter ROS The basic unit of a ROS application is
a ROS node…
Enter ROS The basic unit of a ROS application is
a ROS node… NODE
Enter ROS The basic unit of a ROS application is
a ROS node… NODE
Enter ROS ROS is the communication framework that ties multiple
ROS nodes together. The basic unit of a ROS application is a ROS node… NODE
Communicating Nodes NODE 1 NODE 2 Request Response Topic 1
Subscribe Publish NODE 3 Subscribe Compose your complex robotic system out of independent, communicating Nodes.
Communicating Nodes NODE 1 NODE 2 Request Response Topic 1
Subscribe Publish NODE 3 Subscribe Services Compose your complex robotic system out of independent, communicating Nodes.
Communicating Nodes NODE 1 NODE 2 Request Response Topic 1
Subscribe Publish NODE 3 Subscribe Publish & Subscribe Compose your complex robotic system out of independent, communicating Nodes.
Communicating Nodes NODE 1 NODE 2 Request Response Topic 1
Subscribe Publish NODE 3 Subscribe Action Servers Compose your complex robotic system out of independent, communicating Nodes.
Why do we love ROS? • Encourages code reuse •
Promotes the use of standards • Free and Open Source • Community!!!
The big take-aways NODE 1 NODE 2 Request Response Topic
1 Subscribe Publish NODE 3 Subscribe • code reuse • standards • open source • community! Compose your complex robotic system out of independent, communicating Nodes.
The big take-aways http://ros.org