2. Agenda
●
WHY ROS ?
● What IS ROS ? Some years of ROS !
●
ROS Application !!
●
ROS requirements !!!
● ArduSub and the ArduPilot Project !
● autonomous underwater vehicles (AUVs)
●
BlueROV USES ROS And Lily Uses ROS and stanford
OCEAN ONE Use It or Not ?
● TheConstruct Website
● The Future Depend On Your Project !
●
Questions ???
5. ROS
● Robot Operating System (ROS) is robotics middleware (i.e.
collection of software frameworks for robot software development).
● 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.
● The lack of support for real-time systems is being addressed in the
creation of ROS 2.0.
6. ROS
● Original author(s) :
Willow GarageStanford Artificial
Intelligence Laboratory
● Initial release2007; 10 years ago
● Written in C++ or Python
● License BSD license
● Operating system : Linux, MacOS
7. 2007
● ROS was started by borrowing the best
practices from many early open source
robotic software frameworks including
switchyard by the Stanford Artificial
Intelligence Laboratory in support of the
Stanford AI Robot STAIR (STanford AI
Robot)
● January. Willow Garage hires first
employees: Jonathan Stark, Melonee Wise,
Curt Meyers, and John Hsu
● 11/7/2007: First commit of ROS code
8. 2008
● Development was performed primarily
at Willow Garage, a robotics research
lab, when Eric Berger and Keenan
Wyrobeik, the founders of the Stanford
Personal Robotics Program, left
Stanford to start the Personal Robotics
Program at Willow Garage. During that
time, researchers at more than twenty
institutions collaborated with Willow
Garage engineers in a federated
development model
9. 2009 !!
● 5/12/2009: 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)
● 8/16/2009: ROS.org comes online
● 12/2/2009: First ROS tutorials released
● 2/16/2009: RVIZ first documented
10. 2010
●
1/22/2010: ROS 1.0 released
●
3/30/2010: First autonomous car running ROS announced with UT Austin
●
5/4/2010: Willow Garage awards PR2 to 11 institutions
University of Freiburg (Germany)
Bosch
Georgia Tech
KU Leuven (Belgium)
MIT
Stanford
TU Munich (Germany)
UC Berkeley
U Penn
USC
University of Tokyo (Japan)
●
5/29/2010: First drone using ROS
from GRASP Lab at U Penn
●
9/7/2010: PR2 robots made available for commercial purchase
●
5/11/2011: First pure Java implementation of ROS announced at Google I/O
●
4/18/2011: Willow Garage announces TurtleBot
●
11/8/2011: 4th anniversary of ROS
11. 2012
● 4/17/2012: DARPA awards software
contract to Open Source Robotics
Foundation
● 9/4/2012: First book on ROS published
● 5/19-20/2012: First ROSCon held
12. 2013 & 2014 & 2015
● 12/3/2013: ROS.org released
● 9/1/2014: First robot in space running on
ROS, the Robonaut 2 on International
Space Station
● 9/12-13/2014: ROSCon 2014 takes place in
Chicago Industry attendees surpass
academia attendees for first time
● 7/23/2015: First ROS Summer School in
China
● 11/3/2015: ROS 2 Alpha released
●
13. 2016 & 2017
● 9/15/2016: OSRF announces
collaboration with Toyota Research
Institute
● 5/16/2017: Open Source Robotics
Foundation changed it's name to Open
Robotics
● 9/21/2017: ROSCon 2017
14. ROS Applications
● a master coordination node
● multiplexing information
● publishing or subscribing to data streams:
images, stereo, laser, control, actuator,
contact …
● nodes are seamlessly distributed,
allowing distributed operation over multi-
core, multi-processor, GPUs and clusters
● test systems
15. Application
●
ROS package application areas will include:
●
perception
●
object identification
●
segmentation and recognition
●
Face recognition
●
gesture recognition
●
motion tracking
●
egomotion
●
motion understanding
●
structure from motion (SFM)
●
stereo vision: depth perception via two cameras
●
motion
●
mobile robotics
●
control
●
planning
●
grasping
16. ROS requirement
● Laptop and machine control same
what !
● Python , c++ , OOP , Knoweldge Of CG
and Algorithms
● CMD linux administration
● Stong Knoweldge Of C for firmware
like ros_arduino_bridge
● Knoweldge Of hardware of Devices
