ros-on-the-rocks-wednesday-jan-29

Provides a high-level introduction to the Robot Operating System (ROS), and its role in developing advanced robotics applications.

Transcript

1. January 2014 O N T H E R O C K S ROS
2. January 2014 O N T H E R O C K S ROS O N T H E R O C K S ROS
3. RoadNarrows Robotics Designing Robotics and Intelligent Systems
4. RoadNarrows Robotics Designing Robotics and Intelligent Systems Presenting: A Practical Introduction to ROS Featuring: the Hekateros Manipulator Daniel Packard - January 2014
5. What is ROS? ROS on the Rocks! - Jan 2014 5
6. What is ROS? ROS is the: Robot Operating System ROS on the Rocks! - Jan 2014 6
7. What is ROS? ROS is the: Robot Operating System ROS on the Rocks! - Jan 2014 …but not really an operating system. 7
8. 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. 8
9. Anatomy of a Robot ROS on the Rocks! - Jan 2014 9
10. Anatomy of a Robot ROS on the Rocks! - Jan 2014 Sensors Actuators Processors 10
11. Anatomy of a Robot ROS on the Rocks! - Jan 2014 Sensors Actuators Processors Abstract Software Components (perception, cognition, planners) 11
12. Anatomy of a Robot ROS on the Rocks! - Jan 2014 Sensors Actuators Processors Abstract Software Components (cognition, perception, planners) 12
13. Anatomy of a Robot ROS on the Rocks! - Jan 2014 Sensors Actuators Processors Abstract Software Components (cognition, perception, planners) 13
14. Sensors Actuators Processors Anatomy of a Robot ROS on the Rocks! - Jan 2014 Abstract Software Components (cognition, perception, planners) 14
15. Sensors Actuators Processors Anatomy of a Robot ROS on the Rocks! - Jan 2014 Abstract Software Components (cognition, perception, planners) 15
16. Anatomy of a Robot ROS on the Rocks! - Jan 2014 Abstract Software Components (cognition, perception, planners) 16
17. Anatomy of a Robot ROS on the Rocks! - Jan 2014 Abstract Software Components (perception, cognition, planners) 17
18. Enter ROS ROS on the Rocks! - Jan 2014 ROS helps you structure your robotics applications. 18
19. Enter ROS ROS on the Rocks! - Jan 2014 The basic unit of a ROS application is a ROS node… 19
20. Enter ROS ROS on the Rocks! - Jan 2014 The basic unit of a ROS application is a ROS node… Node 20
21. Enter ROS ROS on the Rocks! - Jan 2014 The basic unit of a ROS application is a ROS node… Node 21
22. Enter ROS ROS on the Rocks! - Jan 2014 The basic unit of a ROS application is a ROS node… Node 22
23. 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
24. Communicating Nodes ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe Publish NODE 3 Subscribe Compose your complex robotic system out of independent, but communicating “ROS Nodes”. 24
25. 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”. 25
26. Communicating Nodes ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe Publish NODE 3 Subscribe Publish & Subscribe Compose your complex robotic system out of independent, but communicating “ROS Nodes”. 26
27. Communicating Nodes ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe Publish NODE 3 Subscribe Action Servers Compose your complex robotic system out of independent, but communicating “ROS Nodes”. 27
28. 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. 28
29. 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!!! 29
30. Node Examples! ROS on the Rocks! - Jan 2014 hello_publisher /hello “Hello ROS!” Simple publisher 30
31. Node Examples! ROS on the Rocks! - Jan 2014 hello_publisher /hello “Hello ROS!” Node Simple publisher 31
32. Node Examples! ROS on the Rocks! - Jan 2014 hello_publisher /hello “Hello ROS!” Node Message Simple publisher 32
33. Node Examples! ROS on the Rocks! - Jan 2014 hello_publisher /hello “Hello ROS!” Node Message Topic Simple publisher 33
34. 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
35. Node Examples! ROS on the Rocks! - Jan 2014 Node Topic Simple subscriber rostopic echo /hello hello_subscriber /hello 35
36. Node Examples! ROS on the Rocks! - Jan 2014 pub/sub /hello pub sub 36
37. Node Examples! ROS on the Rocks! - Jan 2014 pub/sub /hello curly shemp moe larry 37
38. Node Examples! ROS on the Rocks! - Jan 2014 pub/sub /hello curly shemp1 moe larry shemp2 38
39. Real Examples! ROS on the Rocks! - Jan 2014 39
40. Real Examples! ROS on the Rocks! - Jan 2014 40
41. Real Examples! ROS on the Rocks! - Jan 2014 41
42. Real Examples! ROS on the Rocks! - Jan 2014 /state 42
43. Real Examples! ROS on the Rocks! - Jan 2014 /state set_led ping set_rumble 43
44. Real Examples! ROS on the Rocks! - Jan 2014 /state /rumble_cmd set_led ping set_rumble 44
45. Real Examples! ROS on the Rocks! - Jan 2014 /state /moves start_game make_move resign_game 45
46. Real Examples! ROS on the Rocks! - Jan 2014 /state /trajectory calibrate make_move resign_game /speed /brake /status 46
47. The big take-aways ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe Publish NODE 3 Subscribe Compose your complex robotic system out of independent, but communicating “ROS Nodes”. 47
48. The big take-aways ROS on the Rocks! - Jan 2014 NODE 1 NODE 2 Request Response Topic 1 Subscribe Publish NODE 3 Subscribe Compose your complex robotic system out of independent, but communicating “ROS Nodes”. • code reuse • standards • open source • community! 48
49. The big take-aways ROS on the Rocks! - Jan 2014 http://ros.org http://github.com/roadnarrows-robotics http://github.com/pack3754 49
50. Bonus material: ROS Bridge ROS on the Rocks! - Jan 2014 Ok - but what about integrating my ROS application with external resources? 50
51. Bonus material: ROS Bridge ROS on the Rocks! - Jan 2014 Ok - but what about integrating my ROS application with external resources? ROS 51
52. 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 52
53. 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 53
54. 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 54
55. 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