ROS教程1解读.pptx

ROS系统 电子工程系 林宝尉 Lack of standards for robotics (C)2014 Roi Yehoshua 2 The Problem ROS is an open-source robot operating system ROS is a set of software libraries and tools that help you build robot applications that work across a wide variety of robotic platforms Originally developed in 2007 at the Stanford Artificial Intelligence Laboratory?and development continued at Willow Garage Since 2013 it is managed by OSRF (Open Source Robotics Foundation) Celebrating 5 years of ROS (C)2014 Roi Yehoshua 3 What is ROS? (C)2014 Roi Yehoshua 4 ROS Main Features Taken from Sachin Chitta and Radu Rusu (Willow Garage) ROS has two sides The operating system side, which provides standard operating system services such as: hardware abstraction low-level device control implementation of commonly used functionality message-passing between processes package management A suite of user contributed packages (organized into sets called?stacks) that implement common robot functionality such as?SLAM, planning, perception, simulation etc. (C)2014 Roi Yehoshua 5 ROS Main Features / Installation: /ROS/Installation Tutorials: /ROS/Tutorials ROS Tutorial Videos /playlist?list=PLDC89965A56E6A8D6 ROS Cheat Sheet http://www.tedusar.eu/files/summerschool2013/ROScheatsheet.pdf (C)2014 Roi Yehoshua 6 ROS Wiki (C)2014 Roi Yehoshua 7 Robots using ROS /Robots (C)2014 Roi Yehoshua 8 ROS Distributed Architecture 视频 初级 中级 高级 ROS教程 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---初级 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---中级 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 TF Rviz PCL with ROS navigation ROS教程---高级 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---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R