Open Source Robotics ROS Re­vis­ited

The third ar­ti­cle in this se­ries fo­cuses on open source soft­ware for robotics. In Part 1, the reader was in­tro­duced to ROS (Ro­bot Operating Sys­tem). Here, a few more fea­tures of ROS are dis­cussed and a novel as­pect of mo­bile ro­bots is in­tro­duced—si­mul­tane

OpenSource For You - - FOR U & ME -

We are now ready to delve deeper into some more in­ter­est­ing fea­tures of the Ro­bot Operating Sys­tem (ROS). Let’s ex­plore the ba­sic ar­chi­tec­ture of ROS, tele­op­er­a­tion, the graph­i­cal tool rviz, SLAM, and a GUI for ROS.

Th­ese dis­cus­sions are de­rived from ba­sic ex­am­ples and de­fault tu­to­ri­als for ROS. I hope that avid Linux en­thu­si­asts will make their way to http://www.ros.org/wiki, http:// an­swers.ros.org and http://planet.ros.org/.

Ba­sic ar­chi­tec­ture of ROS

ROS works via a client-server model, where the server is roscore. Start­ing roscore order to work with ROS. Tools such as roscd, rx­graph, roswtf, etc, are pro­vided for easy nav­i­ga­tion in the ROS use of th­ese com­mands, in­ter­faces and tools.

To re­ally en­joy the next few sec­tions it is ad­vis­able to in­stall ROS Elec­tric. An Ubuntu 10.04 LTS in­stal­la­tion has been used to test the sim­u­la­tions dis­cussed here. For more in­for­ma­tion on ROS in­stal­la­tion, visit http://www. ros.org/wiki/ROS/In­stal­la­tion.

Also, some pack­ages need to be built with ros­make be­fore we start the next sec­tion: ros­make teleop_base ros­make gmap­ping

Tele­op­er­a­tion

Tele­op­er­a­tion is to con­trol an ac­tual or sim­u­lated ro­bot, us­ing real-time user in­put. Here, we dis­cuss the er­ratic ro­bot in stage sim­u­la­tion; the user in­put is via key­board. To or­ches­trate tele­op­er­a­tion, it is nec­es­sary to in­voke the master, as fol­lows:

Er­ratic Ro­bot : Real ro­bot and the sim­u­lated model

roscore Fig­ure 1: rviz, a vi­su­al­i­sa­tion tool in ROS

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