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A real use case of ROS: REEM(s) (& Python!)
PyBCN, BarcelonaJanuary 16th, 2014
Sammy PfeifferPAL Robotics
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Index
1.Our company & robots
2.Why ROS?
3.Simulator Gazebo
4.Tools: Rviz, rqt_gui, rosbag...
5.Awesome stacks
6.Awesome documentation
7.Demos!
8.Questions
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Our Company & Robots
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Why ROS?
● Open source● Lots of tools!● Lots of already working packages● Good community● Present in research and industrial world
(also hobby!)● Becoming standard (isn't it already?)● Pushing forward technologies
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Simulator Gazebo
● Free open source physics simulator
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Tools: Rviz
● Main tool for visualizing status of the robot
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Tools: rqt_gui
● Set of tools for visualizing data– Console
– Rosbags
– Image View
– Plot
– ROS Graph
– Topic
– Dynamic reconfigure
– Services
– God! I haven't even used them all yet!
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Tools: Rosbag & related
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Awesome Stacks
● Navigation● MoveIt!● State Machines (Smach)● Drivers for everything● Integrated libraries (OpenCV, PCL...)
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Demos!
● Gazebo● Rviz● Navigation● MoveIt!● ???
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Questions