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ROS Tutorial

This document provides an introduction to ROS (Robot Operating System) including how to install Ubuntu 14.04 and ROS Indigo in a virtual environment. It describes some key ROS concepts such as packages, nodes, topics, services, and launch files. It also discusses ROS capabilities like hardware abstraction, message passing, and debugging/visualization tools. Finally, it mentions the Gazebo simulator and how it allows testing robot code in a simulated environment.

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33 views31 pages

ROS Tutorial

This document provides an introduction to ROS (Robot Operating System) including how to install Ubuntu 14.04 and ROS Indigo in a virtual environment. It describes some key ROS concepts such as packages, nodes, topics, services, and launch files. It also discusses ROS capabilities like hardware abstraction, message passing, and debugging/visualization tools. Finally, it mentions the Gazebo simulator and how it allows testing robot code in a simulated environment.

Uploaded by

nhatduy.ctt1
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Quick Introduction to ROS

Installing Ubuntu
1 14.04
Quick and painless with Virtualbox
Open Virtualbox

◉ Install Virtualbox
◉ Download Ubuntu
14.04
◉ Install to a USB
drive
Time for a demo!
Let’s install Ubuntu on a USB drive.
I’ve uploaded a video of this to
Youtube here: https://
youtu.be/UGl0x2ZT_cI

NOTE: use Ubuntu 14.04 NOT 16.04


as in video!!!!!!!!
Installing ROS Indigo

Full details here - See Chapter 4.1, Installing ROS

https://github.com/StevenShiChina/books/blob/master/ros%20by%20exam
ple%20vol%201%20indigo.pdf
2 What is ROS?
Getting started with the concepts
ROS is huge
ROS is an open-source, meta-operating system for
humanoid robots
What can ROS do?

◉ Why ROS?
◉ Research development:
− Fast prototyping easier in a simulated world.
− Lots of packages for sensing, movement, path
planning etc.
− Error free environment for debugging
− Break bits, not real hardware
◉ Transferring from simulated robot to real robot takes
a bit of effort, but works!
What can ROS do?

◉ Hardware abstraction
◉ Low-level device control
◉ Message passing between nodes
◉ Sophisticated build environment
◉ Libraries
◉ Debugging and Visualization Tools
What are the major concepts?

◉ ROS packages
◉ ROS messages
◉ ROS nodes
◉ ROS services
◉ ROS action servers
◉ ROS topics
◉ ...and many more!
Packages
◉ ROS software is organized into packages
− Each package contains some combination of code,
data, and documentation
package_name/
package.xml ← describes the package and it’s dependencies
CMakeLists.txt ← Finds other required packages and
messages/services/actions
src/ ← C++, Python code (includes in include/ folder)
scripts/ ← Python scripts for your node
msg/ ← ROS messages defined for your node (for topics)
srv/ ← ROS services defined for your node (for services)
launch/ ← folder contains .launch files for this package
Building/Running

◉ Catkin is the official build system of ROS


− Catkin combines Cmake macros and Python scripts to provide some
functionality on top of Cmake’s normal workflow
◉ Run ROS code
−
−
ROS Nodes

◉ The ROS framework is component oriented


◉ Each component is called a node
○ A node is a process
○ Nodes communicate through topics, services, and
actions
So what does this mean?

◉ Hardware talks to drivers, which then talk to


nodes, which then talks to ROS
◉ Nodes can run any software you want as long as it
is a language ROS supports
ROS as a framework

◉ ROS Master
sends/receives
◉ Several nodes at once
◉ Whole network on your
computer
Topics

◉ Each node can listen on or publish messages to


topics
− Built in message types (std_msgs)
− User defined messages
−
Complex.msg
float32 real
float32
imaginary
Example: Rospy Tutorials Talker_Listener

http://wiki.ros.org/rospy_tutorials/Tutorials/WritingPublisherSubscriber
Services

◉ A node can provide services – synchronous


remote procedure calls
− Request
− Response
Example: Rospy Tutorials: Server/Client – Add 2 integers, return result

http://wiki.ros.org/rospy_tutorials/Tutorials/WritingServiceClient
Launch Files

◉ Automate the launching of collections of ROS nodes


via XML files and roslaunch
◉
−
−
Launch Files

◉ You can also pass parameters via launch files


◉
−
−
Command Line Tools

◉
−
Rviz: Robot Visualization
Arbotix Simulator (Homework 1): Turtlebot Simulation
https://github.com/pirobot/rbx1/blob/indigo-devel/rbx1_nav/nodes/timed_out_and_back.py
ROS as a framework cont.

◉ Kinect2 →
/kinect2/images
◉ Publishes image messages
◉ What are messages?
Robots in the wild - Problems

● I don’t have a Robot in front of me


● I want to try something that may break my
Robot
● Setting up the Robot takes too much time, I
want to test changes to my code quickly
Gazebo Simulator
Gazebo Simulator

● Same interface as real robot


● Add/remove 3D items in environment
● Physics engine to simulate effects of motor
commands
● Collision detection
● Updated sensor feedback
● Debugging info
Gazebo Demo

● Add object to world


○ Physics
○ Simulated Sensor Output Topics
If you have a question

● Look in Tutorials:
○ http://wiki.ros.org/ROS/Tutorials
● Reference class slides/codes provided
● Google it
● http://answers.ros.org/questions/
● Ask a TA

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