A real use case of ROS

A real use case of ROS: REEM(s) (& Python!)

PyBCN, BarcelonaJanuary 16th, 2014

Sammy PfeifferPAL Robotics

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

Our Company & Robots

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

Simulator Gazebo

● Free open source physics simulator

Tools: Rviz

● Main tool for visualizing status of the robot

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!

Tools: Rosbag & related

Awesome Stacks

● Navigation● MoveIt!● State Machines (Smach)● Drivers for everything● Integrated libraries (OpenCV, PCL...)

Awesome documentationhttp://www.ros.org/

Demos!

● Gazebo● Rviz● Navigation● MoveIt!● ???

Questions