April 2014
O N T H E R O C K S
ROS
O N T H E R O C K S
ROS
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What is ROS?
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What is ROS?
ROS is the:
Robot Operating System
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What is ROS?
… but it’s not really an
operating system
ROS is the:
Robot Operating System
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What is ROS?
ROS is a software framework
for developing advanced
robotic systems.
… but it’s not really an
operating system
ROS is the:
Robot Operating System
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Anatomy of a Robot
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Anatomy of a Robot
Sensors Actuators Processors
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Anatomy of a Robot
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Anatomy of a Robot
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Enter ROS
ROS helps you structure
your robotics applications.
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Enter ROS
The basic unit of a ROS application
is a ROS node…
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Enter ROS
The basic unit of a ROS application
is a ROS node…
NODE
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Enter ROS
The basic unit of a ROS application
is a ROS node…
NODE
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Enter ROS
ROS is the communication framework that
ties multiple ROS nodes together.
The basic unit of a ROS application
is a ROS node…
NODE
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Communicating Nodes
NODE 1 NODE 2
Request
Response
Topic 1
Subscribe Publish
NODE 3 Subscribe
Compose your complex robotic system out of
independent, communicating Nodes.
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Communicating Nodes
NODE 1 NODE 2
Request
Response
Topic 1
Subscribe Publish
NODE 3 Subscribe
Services
Compose your complex robotic system out of
independent, communicating Nodes.
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Communicating Nodes
NODE 1 NODE 2
Request
Response
Topic 1
Subscribe Publish
NODE 3 Subscribe
Publish &
Subscribe
Compose your complex robotic system out of
independent, communicating Nodes.
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Communicating Nodes
NODE 1 NODE 2
Request
Response
Topic 1
Subscribe Publish
NODE 3 Subscribe
Action
Servers
Compose your complex robotic system out of
independent, communicating Nodes.
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Why do we love ROS?
● Encourages code reuse
● Promotes the use of standards
● Free and Open Source
● Community!!!
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The big take-aways
NODE 1 NODE 2
Request
Response
Topic 1
Subscribe Publish
NODE 3 Subscribe
● code reuse
● standards
● open source
● community!
Compose your complex robotic system out of
independent, communicating Nodes.