ROS course 001: Concepts

less than 1 minute read

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


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