The document provides an introduction to the Robot Operating System (ROS), covering its purpose, installation process, fundamental concepts, and basic commands. It emphasizes the use of ROS for abstracting distributed computation and facilitating software reuse, as well as tools for logging and playback. Additionally, it offers resources for further reading and examples of practical applications using ROS.

1. http://roboticvision.org/
ROS Intro/Tutorial
Juxi Leitner
<j.leitner@roboticvision.org>
http://Juxi.net/
Hands-onV

2. http://roboticvision.org/
from PHD Comics and Willow Garage

3. http://roboticvision.org/
Why ROS?
● abstraction
● distributed computation (multi thread, multi computer, multi robot)
● software reuse and rapid testing

4. http://roboticvision.org/
What is ROS?
● free and open source
● thin, multi-lingual, peer-to-peer
● tools-based
It is NOT a
● programming language or IDE
● (just a) library
● (full) operating system

5. http://roboticvision.org/
Mount the USB stick and install VirtualBox.
In VirtualBox go to Machine -> Add… and select the
Ubuntu_14.04_ROS.vbox image from the stick.
How?
Try it out!

6. http://roboticvision.org/
We need three terminals to run the following commands:
> roscore
> rosrun turtlesim turtlesim_node
> rosrun turtlesim turtle_teleop_key
How?
Try it out!

7. http://roboticvision.org/

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ROS Concepts
● Master
● Nodes
● Messages
● Topics
● Services
● Actions

9. http://roboticvision.org/
Try it out!
Using the same commands from before:
> rosnode list > rostopic list
/rosout /rosout
/teleop_turtle /turtle1/cmd_vel
/turtlesim /turtle1/color_sensor
/turtle1/pose
> rosnode info /turtlesim
> rqt_graph

10. http://roboticvision.org/
Try it out!
How about the messages?
> rostopic echo /turtle1/cmd_vel
...
> rostopic info /turtle1/cmd_vel
Type: geometry_msgs/Twist
...
> rosmsg show geometry_msgs/Twist
...

11. http://roboticvision.org/
Logging & Playback
Try it out!
We need three terminals to run:
> rosbag record /turtle1/cmd_vel -O test
[ move the teleop-ed turtle …]^C
> rosbag info test.bag
path: test.bag
duration: 0.6s
messages: 7
topics: /turtle1/cmd_vel 7 msgs : geometry_msgs/Twist
> rosbag play test.bag

12. http://roboticvision.org/
> mkdir -p ~/catkin_ws/src
> cd ~/catkin_ws/src
> catkin_init_workspace
> cd ~/catkin_ws
> catkin_make
> source devel/setup.bash
a flexible way of building your projects (CMake inspired)
ROS Workspaces
Try it out!

13. http://roboticvision.org/
We want you to send data (msgs),
from one running node to another!
#!/usr/bin/env python #!/usr/bin/env python
# Publisher # Publisher
import rospy import rospy
from std_msgs.msg import String from std_msgs.msg import String
... ...
Simple Demo
Try it out!

14. http://roboticvision.org/
#!/usr/bin/env python #!/usr/bin/env python
# Publisher # Publisher
import rospy import rospy
from std_msgs.msg import String from std_msgs.msg import String
def talker(): def callback(data):
pub = rospy.Publisher('chatter', String, queue_size=10) rospy.loginfo(rospy.get_caller_id() +
rospy.init_node('talker', anonymous=True) "I heard %s", data.data)
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown(): def listener():
hello_str = "hello world %s" % rospy.get_time() rospy.init_node('listener', anonymous=True)
rospy.loginfo(hello_str) rospy.Subscriber("chatter", String,
callback)
pub.publish(hello_str) rospy.spin() # keeps python from exiting
rate.sleep()
if __name__ == '__main__': if __name__ == '__main__':
try: listener()
talker()
except rospy.ROSInterruptException:
pass
...
Simple Demo

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No, ROS is much, much more
● build system (catkin)
● coordinate frame transformations (tf)
● parameter server (rosparam)
● visualization (rviz)
● GUI & monitoring (rqt)
● ...
● your tool to do something awesome™
That’s it?

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(A) Mobile Base
(B) Kinect 3D sensor
(C) Computing (eeePc)
(D) HW Structure
The TurtleBot
Learn TurtleBot and ROS
http://learn.turtlebot.com/

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Further Reading
● Morgan Quigley et al. (2009) ROS: an open-source Robot Operating System
● J. M. O'Kane. A Gentle Introduction to ROS: http://www.cse.sc.edu/~jokane/agitr/
● http://wiki.ros.org/ROS/StartGuide
● http://wiki.ros.org/ROS/Tutorials/WhereNext
● Lost? Ask us! And check http://wiki.ros.org & http://answers.ros.org
● http://robohow.eu/_media/meetings/first-integration-workshop/ros-best-practices.pdf