ROS Analisi introduttiva - Officine Robotiche · Robotic Operative System 19/10/13 Raffaello Bonghi 3 COS’È ROS ! E’ un framework per lo sviluppo di software per robot; ! ROS

Analisi introduttiva ROS

19/10/13 Raffaello Bonghi v1 .1

¡ Cos’è ROS § Eventi

¡ Storia § Future distribuzioni

¡ Risorse § Tutorial

¡ Come usarlo § Pacchetti

¡ Applicazioni

¡ Install (PC, Arm, … ) ¡ Structure ROS ¡ Roscore ¡ Nodi ¡ Topic

§ Msg/Srv ¡ Service/Param ¡ How to find my Pkgs

§ Best Pkgs

19/10/13 Raffaello Bonghi 2

SOMMARIO

Robotic Operative System


COS’È ROS

¡ E’ un framework per lo sviluppo di software per robot;

¡ ROS mette a disposizione strumenti e librerie per aiutare a sviluppare software per applicazioni robotiche;

¡ Rilasciato in licenza BSD (Open Source)


EVENTI

¡  Ogni anno è organizzato il ROSCon

¡  Partnership:

¡ Nasce nel 2007 dalla Stanford Artificial Intelligence Laboratory

¡ Nel 2008 continua l’opera Willow Garage

Distribuzioni EOL (End of Life)


STORIA 1/2

Box Turtle 2 Marzo 2010

C Turtle 2 Agosto 2010

Diamodblack 2 marzo 2011

Electric Emys 30 Agosto 2011

Distribuzioni correnti


STORIA 2/2

Fuerte 23 Aprile 2012

Groovy 31 Dicembre 2012

Hydro Medusa 31 Agosto 2013

Catkin

Raccomandata


FUTURE DISTRIBUZIONI STORIA

Introduzione di un Programma di distribuzione che seguirà quello di Ubuntu LTS

Indigo Igloo Aprile 2014

Ubuntu LTS supports ROS, ROS+1 LTS+1 supports ROS+1 Beta LTS+2 supports ROS+1 LTS+3 supports ROS+2 Beta ... LTS2 supports ROS+2, ROS+3

¡  Il sito ufficiale di ROS: http://wiki.ros.org

§  Installazione: http://wiki.ros.org/ROS/Installation

§  Tutorial: http://wiki.ros.org/ROS/Tutorials §  Sensori: http://wiki.ros.org/Sensors

§  2D sensors: Laser, … §  Camere §  Sensori di forza

RISORSE


§  GPS, IMU §  Motions (Kinect, Xtion, …) §  Audio

¡ Il tutorial presente sul sito ufficiale: http://wiki .ros.org/ROS/Tutorials

¡ Guida iniziale ¡ Guide Avanzate:

§ Rviz § Gazebo § PCL (Kinect, Xtion, … ) § …


TUTORIAL RISORSE

PRO

¡ Un grande gruppo di ricerca; § Università;

¡ Molti Pkgs già disponibili;

¡ Visualizzazione § Telemetria § Plot variabili § …

CONTRO

¡ Sistema ancora non stabile;

¡ Buone conoscenze di: §  C/C++

e/o § Python

¡ Esecuzione pesante; ¡ Richiede un PC/ARM

almeno Raspberry PI o superiori;


COME USARLO

¡ Molti robot commerciali usano nativamente ROS, esempio: §  PR2 §  Husky §  TurtleBot §  Kobuki §  Jaguar robots § …


APPLICAZIONI

¡ Cos’è ROS § Eventi

¡ Storia § Future distribuzioni

¡ Risorse § Tutorial

¡ Come usarlo § Pacchetti

¡ Applicazioni

¡ Install (PC, Arm, … ) ¡ Structure ROS ¡ Roscore ¡ Nodi ¡ Topic

§ Msg/Srv ¡ Service/Param ¡ How to find my Pkgs

§ Best Pkgs


SOMMARIO

1.  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources. l ist .d/ros- latest . l ist ’

2.  wget http://packages.ros.org/ros.key -O - | sudo apt-key add – 3.  Instal l ROS

§  sudo apt-get install ros-hydro-desktop-full §  sudo apt-get install ros-hydro-desktop §  sudo apt-get install ros-hydro-ros-base

4.  sudo rosdep init 5.  rosdep update 6.  echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc 7.  source ~/.bashrc


INSTALL


STRUCTURE ROS

workspace_folder/ -- WORKSPACE build/ devel/ src/ -- SOURCE SPACE CMakeLists.txt -- 'Toplevel' CMake file, provided by catkin package_1/ include/ launch/ msg/ src/ srv/ CMakeLists.txt -- CMakeLists.txt file for package_1 package.xml -- Package manifest for package_1 ... package_n/ CMakeLists.txt -- CMakeLists.txt file for package_n package.xml -- Package manifest for package_n

¡ Roscore

¡ Roslaunch


ROSCORE

... logging to ~/.ros/log/9cf88ce4-b14d-11df-8a75-00251148e8cf/roslaunch-machine_name-13039.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://machine_name:33919/ ros_comm version 1.4.7 SUMMARY ======== PARAMETERS * /rosversion * /rosdistro NODES auto-starting new master process[master]: started with pid [13054] ROS_MASTER_URI=http://machine_name:11311/ setting /run_id to 9cf88ce4-b14d-11df-8a75-00251148e8cf process[rosout-1]: started with pid [13067] started core service [/rosout]

¡  roscore = ros+core : master (prov ides name ser v ice for ROS) + rosout (s tdout/stderr ) + parameter ser ver (parameter ser ver wi l l be int roduced later )

¡  rosnode = ros+node : ROS tool to get informat ion about a node. ¡  rosrun = ros+run : runs a node f rom a g iven package.


NODE

$ rosnode list /rosout /my_turtle

$ rosnode ping my_turtle

rosnode: node is [/my_turtle] pinging /my_turtle with a timeout of 3.0s xmlrpc reply from http://aqy:42235/ time=1.152992ms xmlrpc reply from http://aqy:42235/ time=1.120090ms xmlrpc reply from http://aqy:42235/ time=1.700878ms xmlrpc reply from http://aqy:42235/ time=1.127958ms

¡  int8 , int16, int32, int64 (p lus u int*) ¡  f loat32, f loat64 ¡  str ing ¡  t ime, durat ion ¡  other msg f i les ¡  var iable - length array[ ] and f ixed- length array[C]


MSG/SRV TOPIC

string first_name string last_name uint8 age uint32 score

int64 A int64 B --- int64 Sum

MSG message form

SRV service form


TOPIC 1/3

rostopic pub [topic] [msg_type] [args] $ rostopic pub -1 /trl/cmd_vel sim/Vel -- 2.0 1.8

$ rostopic -h rostopic bw display bandwidth used by topic rostopic echo print messages to screen rostopic hz display publishing rate of topic rostopic list print information about active topics rostopic pub publish data to topic rostopic type print topic type

Write Topic - Publish

C++

PYTHON


TOPIC 2/3

rostopic echo [topic]

$ rostopic echo /turtle1/command_velocity

linear: x: 2.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 --- linear: x: 2.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 ---

Read Topic - Subscribe

C++

PYTHON


TOPIC 2/3

$ rostopic list -h

$ rostopic list -v Published topics: * /turtle1/color_sensor [turtlesim/Color] 1 publisher * /turtle1/cmd_velocity [turtlesim/Velocity] 1 publisher * /rosout [roslib/Log] 2 publishers * /rosout_agg [roslib/Log] 1 publisher * /turtle1/pose [turtlesim/Pose] 1 publisher Subscribed topics: * /turtle1/cmd_velocity [turtlesim/Velocity] 1 subscriber * /rosout [roslib/Log] 1 subscriber

Usage: rostopic list [/topic] Options: -h, --help show this help message and exit -b BAGFILE, --bag=BAGFILE list topics in .bag file -v, --verbose list full details about each topic -p list only publishers -s list only subscribers


SERVICE/PARAM

rosservice list print information about active services rosservice call call the service with the provided args rosservice type print service type rosservice find find services by service type rosservice uri print service ROSRPC uri

rosparam set set parameter rosparam get get parameter rosparam load load parameters from file rosparam dump dump parameters to file rosparam delete delete parameter rosparam list list parameter names

$ rosservice -h

$ rosparam -h


HOW TO FIND MY PKGS 1/2


HOW TO FIND MY PKGS 2/2

¡ RQT PLOT ¡ RQT CONSOLE ¡ RVIZ ¡ ROSBRIDGE ¡ ROSSERIAL


BEST PKGS HOW TO F IND MY PKGS


RVIZ BEST PKGS

GRAZIE PER L’ATTENZIONE Raf fael lo Bonghi

www.of f ic inerobot iche. i t www.minisumo.net


FINE!

Documents

ROS Analisi introduttiva - Officine Robotiche · Robotic Operative System 19/10/13 Raffaello Bonghi 3 COS’È ROS ! E’ un framework per lo sviluppo di software per robot; ! ROS