1. Quick Introduction to ROS

2. Installing Ubuntu 14.04 1
Quick and painless with Virtualbox

3. Install Virtualbox Download Ubuntu 14.04 Install to a USB drive
Open Virtualbox
Install Virtualbox
Download Ubuntu 14.04
Install to a USB drive

4. Time for a demo!
Let’s install Ubuntu on a USB drive. I’ve uploaded a video of this to Youtube here:
NOTE: use Ubuntu NOT as in video!!!!!!!!

5. Installing ROS Indigo
Full details here - See Chapter 4.1, Installing ROS

6. What is ROS? 2
Getting started with the concepts

7. ROS is an open-source, meta-operating system for humanoid robots
ROS is huge
ROS is an open-source, meta-operating system for humanoid robots

8. Research development: Fast prototyping easier in a simulated world.
What can ROS do?
Why ROS?
Research development:
Fast prototyping easier in a simulated world.
Lots of packages for sensing, movement, path planning etc.
Error free environment for debugging
Break bits, not real hardware
Transferring from simulated robot to real robot takes a bit of effort, but works!
Not really an operating system: really a set of tools
message passing infrastructure:
ROS is used to connect the various nodes that make up your typical robotic system
debugging tools:
ROS CLI (rosnode, rostopic, rosmsg, etc.), rqt_graph
visualization:
RVIZ, Gazebo, tf

9. Low-level device control Message passing between nodes
What can ROS do?
Hardware abstraction
Low-level device control
Message passing between nodes
Sophisticated build environment
Libraries
Debugging and Visualization Tools
Not really an operating system: really a set of tools
message passing infrastructure:
ROS is used to connect the various nodes that make up your typical robotic system
debugging tools:
ROS CLI (rosnode, rostopic, rosmsg, etc.), rqt_graph
visualization:
RVIZ, Gazebo, tf

10. ROS packages ROS messages ROS nodes ROS services ROS action servers
What are the major concepts?
ROS packages
ROS messages
ROS nodes
ROS services
ROS action servers
ROS topics
...and many more!

11. ROS software is organized into packages
Each package contains some combination of code, data, and documentation
package_name/
package.xml ← describes the package and it’s dependencies
CMakeLists.txt ← Finds other required packages and messages/services/actions
src/ ← C++, Python code (includes in include/ folder)
scripts/ ← Python scripts for your node
msg/ ← ROS messages defined for your node (for topics)
srv/ ← ROS services defined for your node (for services)
launch/ ← folder contains .launch files for this package

12. Catkin is the official build system of ROS
Building/Running
Catkin is the official build system of ROS
Catkin combines Cmake macros and Python scripts to provide some functionality on top of Cmake’s normal workflow
Run ROS code

13. The ROS framework is component oriented
ROS Nodes
The ROS framework is component oriented
Each component is called a node
A node is a process
Nodes communicate through topics, services, and actions

14. So what does this mean?
Hardware talks to drivers, which then talk to nodes, which then talks to ROS
Nodes can run any software you want as long as it is a language ROS supports

15. ROS Master sends/receives Several nodes at once
ROS as a framework
ROS Master sends/receives
Several nodes at once
Whole network on your computer

16. Each node can listen on or publish messages to topics
Built in message types (std_msgs)
User defined messages
Complex.msg
float32 real
float32 imaginary

17. Example: Rospy Tutorials Talker_Listener

18. A node can provide services – synchronous remote procedure calls
Request
Response

19. Example: Rospy Tutorials: Server/Client – Add 2 integers, return result

20. Launch Files
Automate the launching of collections of ROS nodes via XML files and roslaunch

21. You can also pass parameters via launch files

22. Command Line Tools

23. Rviz: Robot Visualization

24. Arbotix Simulator (Homework 1): Turtlebot Simulation

25. Kinect2 → /kinect2/images Publishes image messages What are messages?
ROS as a framework cont.
Kinect2 → /kinect2/images
Publishes image messages
What are messages?

26. I don’t have a Robot in front of me
Robots in the wild - Problems
I don’t have a Robot in front of me
I want to try something that may break my Robot
Setting up the Robot takes too much time, I want to test changes to my code quickly
ONE SLIDE FOR PR2 AND BAXTER. ELIMINATE DUPLICATE SLIDES

27. Gazebo Simulator
ONE SLIDE FOR PR2 AND BAXTER. ELIMINATE DUPLICATE SLIDES

28. Same interface as real robot Add/remove 3D items in environment
Gazebo Simulator
Same interface as real robot
Add/remove 3D items in environment
Physics engine to simulate effects of motor commands
Collision detection
Updated sensor feedback
Debugging info
ONE SLIDE FOR PR2 AND BAXTER. ELIMINATE DUPLICATE SLIDES

29. Simulated Sensor Output Topics
Gazebo Demo
Add object to world
Physics
Simulated Sensor Output Topics
ONE SLIDE FOR PR2 AND BAXTER. ELIMINATE DUPLICATE SLIDES

31. Reference class slides/codes provided Google it
If you have a question
Look in Tutorials:
Reference class slides/codes provided
Google it
Ask a TA
ONE SLIDE FOR PR2 AND BAXTER. ELIMINATE DUPLICATE SLIDES