The Robot Operating System (ROS1 &2): Programming paradigms and deployment

St-Onge, David et Herath, Damith. 2022. « The Robot Operating System (ROS1 &2): Programming paradigms and deployment ». In Foundations of Robotics: A Multidisciplinary Approach with Python and ROS. pp. 105-126. Singapore : Springer Nature Singapore.

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Résumé

Abstract: The amount of knowledge needed to deploy a robotic system can sometimes feel overwhelming. However, many individual problems were solved already, including software ecosystems to simulate and then deploy our robots seamlessly. The Robot Operating System (ROS) is an open-source solution addressing this critical sharing need for robotic sensing, control, planning, simulation, and deployment. Not to be confused with a library, it is a software ecosystem (the concept of an operating system might be too strong) facilitating the integration, maintenance, and deployment of new functionalities and hardware from simulations to physical deployment. Learning objectives: The objective at the end of this chapter is to be able to: • to know how to use (run and launch) ROS nodes and packages; • to understand the messaging structure, including topics and services; • to know about some of the core modules of ROS, including the Gazebo simulator, ROSbags, MoveIt! and the navigation stack.

Type de document:	Chapitre de livre
ISBN:	978-981-19-1983-1
Éditeurs:	Éditeurs ORCID Herath, Damith NON SPÉCIFIÉ St-Onge, David NON SPÉCIFIÉ
Professeur:	Professeur St-Onge, David
Affiliation:	Génie mécanique
Date de dépôt:	27 sept. 2022 13:58
Dernière modification:	26 oct. 2022 15:21
URI:	https://espace2.etsmtl.ca/id/eprint/25416

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