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Η ανελεύθερη Ελλάδα


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Robot Operating System (ROS) PDF Εκτύπωση E-mail
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Συντάχθηκε απο τον/την Χρήστος Μπούμπουλης (Christos Boumpoulis)   
Δευτέρα, 30 Οκτώβριος 2017 17:28

Introduction to Robot Operating System, Nick Weldin.



Robot Operating System (ROS)


Robot Operating System (ROS) is a Robotics middleware (i.e. collection of software frameworks for robot software development). Even though ROS is not an operating system, it provides services designed for heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. Running sets of ROS-based processes are represented in a graph architecture where processing takes place in nodes that may receive, post and multiplex sensor, control, state, planning, actuator and other messages. Despite the importance of reactivity and low latency in robot control, ROS, itself, is not a real-time OS (RTOS), though it is possible to integrate ROS with real-time code.[2] The lack of support for real-time systems is being addressed in the creation of ROS 2.0.[3]

Software in the ROS Ecosystem[4] can be separated into three groups:

  • language-and platform-independent tools used for building and distributing ROS-based software;

  • ROS client library implementations such as roscpp,[5] rospy,[6]and roslisp;[7]

  • packages containing application-related code which uses one or more ROS client libraries.

Both the language-independent tools and the main client libraries (C++, Python, Lisp) are released under the terms of the BSD license, and as such are open source software and free for both commercial and research use. The majority of other packages are licensed under a variety of open source licenses. These other packages implement commonly used functionality and applications such as hardware drivers, robot models, datatypes, planning, perception,simultaneous localization and mapping, simulation tools, and other algorithms.

The main ROS client libraries (C++, Python, Lisp) are geared toward a Unix-like system, primarily because of their dependence on large collections of open-source software dependencies. For these client libraries, Ubuntu Linux is listed as "Supported" while other variants such as Fedora Linux, macOS, and Microsoft Windows are designated "Experimental" and are supported by the community.[8] The native Java ROS client library, rosjava, however, does not share these limitations and has enabled ROS-based software to be written for the Android OS.[9] rosjava has also enabled ROS to be integrated into an officially-supported MATLAB toolbox which can be used on Linux, macOS, andMicrosoft Windows.[10] A JavaScript client library, roslibjs has also been developed which enables integration of software into a ROS system via any standards-compliant web browser.

History and Milestones


  • ROS was started by borrowing the best practices from many early open source robotic software frameworks includingswitchyard by the Stanford Artificial Intelligence Laboratory in support of the Stanford AI Robot STAIR (STanford AI Robot)[11][12] project.

  • January. Willow Garage hires first employees: Jonathan Stark, Melonee Wise, Curt Meyers, and John Hsu

  • 11/7/07: First commit of ROS code to SourceForge


  • Development was performed primarily at Willow Garage, a robotics research lab, when Eric Berger and Keenan Wyrobek, the founders of the Stanford Personal Robotics Program[13], left Stanford to start the Personal Robotics Program at Willow Garage[14]. During that time, researchers at more than twenty institutions collaborated with Willow Garage engineers in a federated development model.[15][16]


  • 2/10/09: ROS 0.4 Mango Tango released

  • 2/16/09: RVIZ first documented

  • 5/12/09: First published paper on ROS: ROS: an open-source Robot Operating System 5/12/2009 (Authors: Morgan Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, Andrew Y Ng)[17]

  • 8/16/09: ROS.org comes online

  • 12/2/09: First ROS tutorials released





  • February 2013, ROS stewardship transitioned to the Open Source Robotics Foundation.[21]

  • 3/12/13: 10,000 questions asked on ROS Answers[22]

  • 5/11-12/13: ROSCon 2013 takes place in Stuttgart, Germany

  • 6/18/13: Virtual Robotics Challenge takes place, the virtual stage of the DARPA Robotics Challenge

  • August 2013, a blog posting[23] announced that Willow Garage would be absorbed by another company started by its founder, Suitable Technologies.

  • 12/3/13: ROS.org released





  • 3/21/17: First Ukrainian ROS Meetup[30]

  • 5/16/17: Open Source Robotics Foundation changed it's name to Open Robotics.[31]

  • 7/22/17: Third ROS Summer School in China

  • 9/21/17: ROSCon 2017. Program here


ROS areas include:

  • a master coordination node

  • publishing or subscribing to data streams: images, stereo, laser, control, actuator, contact ...

  • multiplexing information

  • node creation and destruction

  • nodes are seamlessly distributed, allowing distributed operation over multi-core, multi-processor, GPUs and clusters

  • logging

  • parameter server

  • test systems

ROS package application areas will include:

ROS-Industrial[32] is a BSD-licensed “hardware-agnostic” software development program to create a Unified Robot Description Format (URDF) for industrial robots.

Ports to robots and boards

ROS packages

ROS contains many open source implementations of common robotics functionality and algorithms. These open source implementations are organized into "packages". Many packages are included as part of ROS distributions, while others may be developed by individuals and distributed through code sharing sites such as github. For a list of some of the available packages for ROS, see: http://www.ros.org/browse/list.php




[ROS tutorial for beginners] Chapter 1- Intro to Robot Operating System



Programming for Robotics (ROS) Course 1






Τελευταία Ενημέρωση στις Δευτέρα, 30 Οκτώβριος 2017 17:34