Cvpr2010 open source vision software, intro and training part vi robot operating system - rusu - unknown - 2010

May 15, 20112 likes1,484 views

ROS (Robot Operating System) is a meta-operating system for robotics that allows users to obtain, build, write and run code across multiple computers and robots. It features a computational graph of nodes that communicate via topics and services, uses messages to pass data, and is organized into packages that can be built and distributed from repositories online. The ROS master facilitates node discovery and communication. Parameters can also be set and accessed on the ROS parameter server.

ROS
Robot Operating System

Dr. Radu Bogdan Rusu
Research Scientist, Willow Garage

What is ROS?
● Meta operating system for robotics
● Obtain, build, write, and run code across
multiple computers, and multiple robots

Hello, I am Texai418

Hi, I'm a PR2 Beta

ROS Concepts
I. computational graph
• how programs run: master, node, topic, message,
service, parameter
II. file system
• how programs are organized and built: packages,
stacks, msg, srv
III. repositories
• how files are distributed online: ros-pkg, wg-ros-pkg,
tum-ros-pkg, sail-ros-pkg, ...

(I) Architecture Overview
● distributed processes called nodes
● synchronous services
● asynchronous topics
● data is passed via ROS messages
message
Talker Listener
*
service request
Node1 Node2
service reply

(I) Nodes
● principal programming entities in ROS
● they connect to each other and pass data
via topics
● the discovery of who publishes on what
topic is done via a ROS master

(0. I am publishing on /chatter) 1. who publishes on /chatter?
ROS master
2. node Talker
3. connect to Talker
Talker Listener
4. start sending messages

(I) ROS Messages
● defined in package-name/msg/.msg files,
sent over topics
● basic data types: int{8,16,32,64},
float{32,64}, string, time, duration, array[]
Point.msg
float64 x
float64 y
float64 z

● used in ROS services, defined in package-
name/srv/*.srv
Service = Request msg + Response msg

(I) ROS Messages: example
#This message holds a collection of nD points, as a binary blob.
Header header

# 2D structure of the point cloud. If the cloud is unordered,
# height is 1 and width is the length of the point cloud.
uint32 height
uint32 width

# Describes the channels and their layout in the binary data blob.
PointField[] fields

bool is_bigendian # Is this data bigendian?
uint32 point_step # Length of a point in bytes
uint32 row_step # Length of a row in bytes
uint8[] data # Actual point data, size is (row_step*height)
bool is_dense # True if there are no invalid points

(I) master, roscore
● Master
● Name service for ROS
● Nodes register topics and services with Master
● Nodes find each other using Master
● XML-RPC based
● roscore
● Master
● parameter server
● rosout: logs /rosout topic for debugging

(I) ROS parameters
● have unique names
● can represent primitive data types:
● integers
● floats
● boolean
● dictionaries
● maps, etc
● can be set and remapped at runtime
● stored on the parameter server

(II) Packages & Stacks
● Packages = directories with a certain structure,
can contain anything: nodes, messages, tools
● in their most basic form:
package_name/
package_name/Makefile
package_name/CMakeLists.txt
package_name/manifest.xml
● ROS core = small, but ROS world = many
packages !!!
● Stacks = collection of packages
● in their most basic form:
stack_name/
stack_name/package_name_1
stack_name/package_name_N
stack_name/stack.xml

(III) Repositories
• collection of packages and stacks, hosted online
• many repositories (>20): Stanford, CMU, TUM, etc
•

This document provides an overview of ROS (Robotic Operating System) components including nodes, topics, services, and parameters. It describes how to set up a ROS workspace using packages and stacks, configure ROS paths, build packages, and use core ROS tools like rosrun and roslaunch. It also explains how to create ROS messages for topics and services, write publishing/subscribing nodes, and service clients.

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5. (I) Nodes ● principal programming entities in ROS ● they connect to each other and pass data via topics ● the discovery of who publishes on what topic is done via a ROS master (0. I am publishing on /chatter) 1. who publishes on /chatter? ROS master 2. node Talker 3. connect to Talker Talker Listener 4. start sending messages

6. (I) ROS Messages ● defined in package-name/msg/.msg files, sent over topics ● basic data types: int{8,16,32,64}, float{32,64}, string, time, duration, array[] Point.msg float64 x float64 y float64 z ● used in ROS services, defined in package- name/srv/*.srv Service = Request msg + Response msg

7. (I) ROS Messages: example #This message holds a collection of nD points, as a binary blob. Header header # 2D structure of the point cloud. If the cloud is unordered, # height is 1 and width is the length of the point cloud. uint32 height uint32 width # Describes the channels and their layout in the binary data blob. PointField[] fields bool is_bigendian # Is this data bigendian? uint32 point_step # Length of a point in bytes uint32 row_step # Length of a row in bytes uint8[] data # Actual point data, size is (row_step*height) bool is_dense # True if there are no invalid points

8. (I) master, roscore ● Master ● Name service for ROS ● Nodes register topics and services with Master ● Nodes find each other using Master ● XML-RPC based ● roscore ● Master ● parameter server ● rosout: logs /rosout topic for debugging

9. (I) ROS parameters ● have unique names ● can represent primitive data types: ● integers ● floats ● boolean ● dictionaries ● maps, etc ● can be set and remapped at runtime ● stored on the parameter server

10. (II) Packages & Stacks ● Packages = directories with a certain structure, can contain anything: nodes, messages, tools ● in their most basic form: package_name/ package_name/Makefile package_name/CMakeLists.txt package_name/manifest.xml ● ROS core = small, but ROS world = many packages !!! ● Stacks = collection of packages ● in their most basic form: stack_name/ stack_name/package_name_1 stack_name/package_name_N stack_name/stack.xml

11. (III) Repositories • collection of packages and stacks, hosted online • many repositories (>20): Stanford, CMU, TUM, etc •

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