ROS course 001: Concepts

1. 概要

ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license.

ROS is great tool to control robot. It can run on all support hardware. A “Java/.Net 5” software/library for robotics.

1.1. install

• Simple to install, all packages are available through apt
• program is organized from smaller packages

1.2. build

• ROS build tool =catkin
  This is CMake-based build tool, can link to other library

1.3. runtime

• ROS use publish/subcribe model
• A lot of tools, all free, all unitied
  visulizaton: rviz、simulator: gazebo、GUI: rqt

ROS is very good at:

1. Distributed computation: ROS can use computation resource very effective
2. Software reuse: write code once and run on every hardware that support ROS
3. Rapid testing: ROS can accelarate the testing process

2. 参考リンク

1. ROS wiki

3. 目次ページへのリンク

ROS TO