ROS教程1.pptx

ROS系统电子工程系林宝尉The ProblemLack of standards for robotics(C)2014 Roi YehoshuaWhat is ROS?(C)2014 Roi YehoshuaROS is an open-source robot operating systemROS is a set of software libraries and tools that help you build robot applications that work across a wide variety of robotic platformsOriginally developed in 2007 at the Stanford Artificial Intelligence Laboratory?and development continued at Willow GarageSince 2013 it is managed by /OSRF (Open Source Robotics Foundation)/watch?v=PGaXiLZD2KQCelebrating 5 years of ROSROS Main FeaturesTaken from Sachin Chitta and Radu Rusu (Willow Garage) (C)2014 Roi YehoshuaROS Main Features(C)2014 Roi YehoshuaROS has two sidesThe operating system side, which provides standard operating system services such as:hardware abstractionlow-level device controlimplementation of commonly used functionalitymessage-passing between processespackage managementA suite of user contributed packages (organized into sets called?stacks) that implement common robot functionality such as?SLAM, planning, perception, simulation etc.ROS Wiki(C)2014 Roi Yehoshua//Installation: /ROS/Installation/ROS/InstallationTutorials: /ROS/Tutorials/ROS/TutorialsROS Tutorial Videos/playlist?list=PLDC89965A56E6A8D6/playlist?list=PLDC89965A56E6A8D6ROS Cheat Sheethttp://www.tedusar.eu/files/summerschool2013/ROScheatsheet.pdfhttp://www.tedusar.eu/files/summerschool2013/ROScheatsheet.pdfRobots using ROS/Robots/Robots(C)2014 Roi YehoshuaROS Distributed Architecture(C)2014 Roi YehoshuaTurtlebot%20II%20will%20follow%20you_高清.mp4视频ROS教程初级中级高级ROS教程---初级安装配置ROS环境ROS文件系统介绍创建ROS程序包编译ROS程序包理解ROS节点理解ROS话题理解ROS服务和参数使用rqt_console和roslaunch创建ROS消息和ROS服务编写简单的消息发布器和订阅器（C++）及其测试编写简单的Service和Client（C++）及其测试录制与回放数据roswtd入门ROS教程---中级手动创建ROS package管理系统依赖项Roslaunch在大型项目中的使用技巧ROS在多机器人上的使用自定义消息ROS教程---高级创建自己的URDF文件ros_control使用ROS的标准控制器框架来与硬件连接TFRvizPCL with ROSnavigationROS教程---初级安装配置ROS环境ROS文件系统介绍创建ROS程序包编译ROS程序包理解ROS节点理解ROS话题理解ROS服务和参数使用rqt_console和roslaunch创建ROS消息和ROS服务编写简单的消息发布器和订阅器（C++）及其测试编写