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CSCI 473/573Human-Centered Robotics
ROS: Robot Operating System
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Let’s design a simple robot
ROS: Robot Operating System
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Let’s design a simple robot
ROS: Robot Operating System
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Before implementing intelligence, we need to consider…
Example: Manipulation
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ROS: Robot Operating System
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What a mess!
How can we deal with allprogram components?
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ROS: Robot Operating System
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ROS: Robot Operating System
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•Modular design•Reusable robotics components!•62 Robotic platforms officially support ROS on
9/18/2015, 121 on 1/30/2017, and 150+ on 1/22/2019: http://wiki.ros.org/Robots
Now: (unofficially) almost all open source robots are using certain components of ROS…•Hundreds of ready to use algorithms•Efficient, so it can be used for actual products, not
just prototyping•Runs on Ubuntu, also many embedded processors•Parallelization and networking made easy, can use
multiple machines simultaneously
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ROS: Robot Operating System
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ROS: Robot Operating System
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ROS: Robot Operating System
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Plumbing: ROS provides messaging infrastructure designed to support the quick and easy construction
of distributed computing systems.
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ROS: Robot Operating System
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ROS: Robot Operating System
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ROS: Robot Operating System
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Tools: ROS provides an extensive set of tools for configuring, starting, introspecting, debugging, visualizing, logging, testing, and stopping distributed computing systems.
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System Visualization: rqt_graph
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System Visualization: rqt_graph
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Live Plotting: rqt_plot
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Logging and Visualization Sensor Data: rosbag and rqt_bag
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Logging and Visualization Sensor Data: rosbag and rqt_bag
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3D Visualization: RVIZ
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2D and 3D Simulation: Player-Stage and Gazebo
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2D and 3D Simulation: Player-Stage and Gazebo
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2D and 3D Simulation: Player-Stage and Gazebo
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Capabilities: ROS provides a broad collection of libraries that implement useful robot functionality, with
a focus on mobility, manipulation, and perception.
Capabilities: Manipulation
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Capabilities: Mobility
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Capabilities: Mapping
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Ecosystem: ROS is supported and improved by a large community, with a strong focus on integration and
documentation. ros.org is a one-stop-shop for finding and learning about the thousands of ROS packages that
are available from developers around the world.
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Worldwide User Base (ros.org)
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ROS: Robot Operating System
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