open source robotics with rossunil thaha (nokia), aneesh muralidharan (vcreate logic) - n900 demo...
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Open Source Robotics with ROS
Mrinal Kalakrishnan
@
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 1 / 14
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What is ROS?
Robot Operating System / Robot Open Source
A “meta-operating system”
“The Linux of robotics”
Goal: Improve robotics researchLeverage the work of othersReplication of results - good science!Time to productivity:
vs
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 2 / 14
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What is ROS?
Robot Operating System / Robot Open Source
A “meta-operating system”
“The Linux of robotics”
Goal: Improve robotics researchLeverage the work of othersReplication of results - good science!Time to productivity:
vs
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 2 / 14
![Page 4: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/4.jpg)
What can ROS do?
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 3 / 14
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What features does ROS have?
Core Functionality (ros):Message-passing InfrastructurePackage ManagementBuild System, Logging, Testing
Everything else (ros-pkg):Hardware AbstractionLow-level Device ControlSimulators/VisualizersMath/Geometry LibrariesRobotics!
Originally developed at Stanford,currently maintained by WillowGarage
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 4 / 14
![Page 6: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/6.jpg)
What features does ROS have?
Core Functionality (ros):Message-passing InfrastructurePackage ManagementBuild System, Logging, Testing
Everything else (ros-pkg):Hardware AbstractionLow-level Device ControlSimulators/VisualizersMath/Geometry LibrariesRobotics!
Originally developed at Stanford,currently maintained by WillowGarage
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 4 / 14
![Page 7: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/7.jpg)
What features does ROS have?
Core Functionality (ros):Message-passing InfrastructurePackage ManagementBuild System, Logging, Testing
Everything else (ros-pkg):Hardware AbstractionLow-level Device ControlSimulators/VisualizersMath/Geometry LibrariesRobotics!
Originally developed at Stanford,currently maintained by WillowGarage
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 4 / 14
![Page 8: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/8.jpg)
ROS: Distributed Development
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 5 / 14
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We don’t reinvent the wheel. . .
OpenCV - Computer Vision
Eigen - Matrix Algebra
ODE+Gazebo - Robot Simulator
KDL - Kinematics and Dynamics
TREX - High Level Planning
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 6 / 14
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Distributed Processes
Move computation around the network
Loose coupling between “nodes”
Modularity
License boundaries
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 7 / 14
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Messages, Topics, Services
Message Language-independent data structure
Topic A “channel” on which nodes publish and subscribe to messages
Service Request/reply style communication
Client Librariesroscpp, rospy, rosoct, roslisp, rosjava
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 8 / 14
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Messages, Topics, Services
Message Language-independent data structure
Topic A “channel” on which nodes publish and subscribe to messages
Service Request/reply style communication
Client Librariesroscpp, rospy, rosoct, roslisp, rosjava
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 8 / 14
![Page 13: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/13.jpg)
Messages, Topics, Services
Message Language-independent data structure
Topic A “channel” on which nodes publish and subscribe to messages
Service Request/reply style communication
Client Librariesroscpp, rospy, rosoct, roslisp, rosjava
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 8 / 14
![Page 14: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/14.jpg)
Messages, Topics, Services
Message Language-independent data structure
Topic A “channel” on which nodes publish and subscribe to messages
Service Request/reply style communication
Client Librariesroscpp, rospy, rosoct, roslisp, rosjava
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 8 / 14
![Page 15: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/15.jpg)
Visualizer
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 9 / 14
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General Robot Description
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 10 / 14
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General Robot Description
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 10 / 14
![Page 18: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/18.jpg)
General Robot Description
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 10 / 14
![Page 19: Open Source Robotics with ROSSunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo Willow Garage - travel funding Thank you! Questions? Contact: mail@mrinal.net Mrinal](https://reader033.vdocuments.us/reader033/viewer/2022053017/5f1b145db1d7731762169026/html5/thumbnails/19.jpg)
Let’s Hack!
<Demo featuring a Nokia N900 phone accelerometer controlling a simulatedPR2 in gazebo>
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 11 / 14
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Willow Garage Intern Challenge
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 12 / 14
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Conclusions
Open Source, yet commercial-friendly
Federated development model
Growing community
Documentation, code, wiki, mailing lists are athttp://www.ros.org/
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 13 / 14
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Acknowledgements
Steve Cousins, Brian Gerkey - ideas for slides
Sunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo
Willow Garage - travel funding
Thank you!
Questions?Contact: [email protected]
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 14 / 14
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Acknowledgements
Steve Cousins, Brian Gerkey - ideas for slides
Sunil Thaha (Nokia), Aneesh Muralidharan (VCreate Logic) - N900 demo
Willow Garage - travel funding
Thank you!
Questions?Contact: [email protected]
Mrinal Kalakrishnan (USC) Open Source Robotics with ROS FOSS.IN/2009 14 / 14