Robot Operating System (ROS) Tutorial

Robot Operating System (ROS) Tutorial

Description: This article describes the usage and installation methods of ROS (Robot Operating System;

1.1 main use of ROS

ROS is a computer Operating System architecture designed for Robot software development. It is an open-source meta-Level Operating System (post-operating system) that provides services similar to operating systems, including hardware abstract descriptions, underlying Driver Management, execution of shared functions, inter-program message transmission, and program release package management, it also provides tools and libraries for obtaining, creating, writing, and executing multi-host fusion programs.

The operating architecture of ROS is a processing architecture that uses the ROS communication module to implement P2P loose-coupling network connections between modules. It implements several types of communication, this includes service-based synchronous RPC (Remote process call) Communication, Topic-based asynchronous data stream communication, and data storage on Parameter servers.

1.2 How to install ROS

ROS can be installed on a variety of platforms. Currently, the most comprehensive Ubuntu operating system platform is supported. We recommend that you install ROS on Windows platforms using virtual machines to facilitate the next step of learning experiments;

The official latest version (ROS Groovy Galapagos) Installation image address is as follows: http://nootrix.com/downloads/#RosVM

Virtual Machine download site: https://www.virtualbox.org/

After installing the Oracle VM VirtualBox, choose "manage"> "Import Virtual Computer"> "open virtual computer"

Select the downloaded "rosGroovyGalapagos. ova" file;

In the import configuration option of the virtual computer, it is recommended to adjust the location of the virtual hard disk to a hard disk area with a large space, for example, the installation location is D: \ VirtualOS \ VirtualBox, as shown in:

After the installation is complete, start the VM. The default user name and password are "viki", as shown below:

We try to input the ROS command "roscore" in the Command Terminal "Terminal", and the following information will appear:

Now that the virtual machine has been installed, we can use this virtual machine to learn more about ROS.

For more details, please continue to read the highlights on the next page:

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[Content navigation]
Page 7: Introduction and installation of ROS	Page 7: Introduction to file systems and command tools in ROS
Page 7: Create a catkin feature package in the ROS System	Page 6: Compile function packages in the ROS System
Page 7: familiar with nodes in the ROS System	Page 7: familiar with the topics in the ROS System
Page 7: familiar with the services and parameters in the ROS System	Page 7: rqt_console and roslaunch usage
Page 1: Use rosed to edit a file	Page 7: generate the ROS msg file and the srv File