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{{Use dmy dates|date=March 2014}}
{{Infobox software
| name =
| logo = Melodic Morenia.png
| logo size = 150px
| logo caption = Melodic Morenia Logo
| screenshot = Cart_pushing_rviz_holonomic.jpg
| caption = Cart pushing simulation in RVIZ
| author = [[Willow Garage]]<br/>[[Stanford Artificial Intelligence Laboratory]]
| released = {{Start date and age|2007}}
| latest release version = Melodic Morenia<ref>{{cite web|url=https://wiki.ros.org/melodic|title=ROS Melodic Morenia |publisher=wiki.ros.org |date= |accessdate=2018-06-10}}</ref>
| latest release date = {{Start date and age|df=yes|2018|05|23}}
| operating system = [[Linux]], [[MacOS]] (experimental), [[Windows 10]]
| genre = [[Robotics suite]], [[operating system|OS]], [[library (computing)|library]]
| license = [[BSD license]]
| website = {{URL|www.ros.org}}
| programming_language = [[C++]] or [[Python (programming language)|Python]]
}}
'''Robot Operating System''' ('''ROS''') is [[robotics middleware]] (i.e. collection of [[software framework]]s for [[robot]] software development). Although ROS is not an [[operating system]], it provides services designed for a heterogeneous [[computer cluster]] such as [[hardware abstraction]], low-level [[Device driver|device control]], implementation of commonly used functionality, [[Inter-process communication|message-passing between processes]], and package management. Running sets of ROS-based processes are represented in a [[graph theory|graph]] architecture where processing takes place in nodes that may receive, post and multiplex sensor, control, state, planning, actuator, and other messages. Despite the importance of reactivity and [[low latency]] in robot control, ROS itself is ''not'' a [[Real-time operating system|real-time OS]] (RTOS). It is possible, however, to integrate ROS with real-time code.<ref>ROS-Introduction http://wiki.ros.org/ROS/Introduction</ref> The lack of support for real-time systems has been addressed in the creation of ROS 2.0.<ref>{{cite web|last1=Kay|first1=Jackie|title=Proposal for Implementation of Real-time Systems in ROS 2|url=http://design.ros2.org/articles/realtime_proposal.html|access-date=16 August 2016}}</ref><ref>{{cite web|last1=Kay|first1=Jackie|title=Realtime Design Guidelines For ROS 2|url=http://design.ros2.org/articles/realtime_background.html#design-guidelines-for-ros-2|website=design.ROS2.org|publisher=ROS2|access-date=22 November 2018}}</ref><ref>{{cite web|title=ROS 2 For Realtime Applications|url=https://discourse.ros.org/t/ros2-for-real-time-applications/6493|website=discourse.ROS.org|publisher=ROS|access-date=22 November 2018}}</ref>
Software in the ROS Ecosystem<ref>{{cite web|title=Browsing packages for indigo|url=http://www.ros.org/browse/list.php|website=ROS.org|publisher=ROS|access-date=21 February 2016}}</ref> can be separated into three groups:
* language-and platform-independent tools used for building and distributing ROS-based software;
* ROS client library implementations such as roscpp,<ref>{{cite web|title=Package Summary|url=http://wiki.ros.org/roscpp|website=ROS.org|publisher=ROS|accessdate=21 February 2016}}</ref> rospy,<ref>{{cite web|title=Package SUmmary|url=http://wiki.ros.org/rospy|website=ROS.org|publisher=ROS|accessdate=21 February 2016}}</ref> and roslisp;<ref>{{cite web|title=Package Summary|url=http://wiki.ros.org/roslisp|website=ROS.org|publisher=ROS|access-date=21 February 2016}}</ref>
* packages containing application-related code which uses one or more ROS client libraries.<ref>{{cite web|url=http://wiki.ros.org/Client%20Libraries|title=client libraries|website=ROS.org|access-date=12 December 2017}}</ref>
Both the language-independent tools and the main client libraries ([[C++]], [[Python (programming language)|Python]], and [[Lisp (programming language)|Lisp]]) are released under the terms of the [[BSD license]], and as such are [[open source software]] and free for both commercial and research use. The majority of other packages are licensed under a variety of open source licenses. These other packages implement commonly used functionality and applications such as hardware drivers, robot models, datatypes, planning, perception, [[simultaneous localization and mapping]], simulation tools, and other algorithms.
The main ROS client libraries (C++, Python, and Lisp) are geared toward a [[Unix-like]] system, primarily because of their dependence on large collections of open-source software dependencies. For these client libraries, [[Ubuntu (operating system)|Ubuntu Linux]] is listed as "Supported" while other variants such as [[Fedora (operating system)|Fedora Linux]], [[macOS]], and [[Microsoft Windows]] are designated "Experimental" and are supported by the community.<ref>{{cite web|url=http://wiki.ros.org/ROS/Installation |title=ROS/Installation - ROS Wiki |publisher=Wiki.ros.org |date=2013-09-29 |accessdate=2014-07-12}}</ref> The native Java ROS client library, rosjava, however, does not share these limitations and has enabled ROS-based software to be written for the [[Android (operating system)|Android OS]].<ref>{{cite web|url=http://wiki.ros.org/android |title=android - ROS Wiki |publisher=Wiki.ros.org |date=2014-04-12 |accessdate=2014-07-12}}</ref> rosjava has also enabled ROS to be integrated into an officially supported [[MATLAB]] toolbox which can be used on [[Linux]], [[macOS]], and Microsoft Windows.<ref>{{cite web|url=http://www.mathworks.com/hardware-support/robot-operating-system.html |title=Robot Operating System (ROS) Support from MATLAB - Hardware Support |publisher=Mathworks.com |date= |accessdate=2014-07-12}}</ref> A [[JavaScript]] client library, roslibjs has also been developed which enables integration of software into a ROS system via any standards-compliant web browser. In September 2018 Microsoft ported Core ROS to Windows 10.
==History and milestones==
===2007===
* ROS was started by borrowing the best practices from many early open source robotic software frameworks including ''switchyard'' by the [[Stanford Artificial Intelligence Laboratory]] in support of the Stanford AI Robot STAIR (STanford AI Robot) project.<ref>{{cite web|url=http://stair.stanford.edu/|title=STAIR|website=stair.Stanford.edu|access-date=12 December 2017}}</ref><ref>{{citation |title=STAIR: Hardware and Software Architecture |first1=Morgan |last1=Quigley |first2=Eric |last2=Berger |first3=Andrew Y. |last3=Ng |author3-link=Andrew Ng |year=2007 |url=http://www.aaai.org/Papers/Workshops/2007/WS-07-15/WS07-15-008.pdf |publisher=AAAI 2007 Robotics Workshop}}</ref>
* January. Willow Garage hires first employees: Jonathan Stark, Melonee Wise, Curt Meyers, and John Hsu
* 7 November 2007: First commit of ROS code to SourceForge<ref>{{cite web|url=https://sourceforge.net/p/ros/code/10/log/?path=|title=Repository: code|website=Sourceforge.net|access-date=12 December 2017}}</ref>
===2008===
* Development was performed primarily at [[Willow Garage]], a robotics research lab, when [[Eric_Berger_(engineer)|Eric Berger]] and Keenan Wyrobek,<ref>{{Cite web|url=https://spectrum.ieee.org/automaton/robotics/robotics-software/the-origin-story-of-ros-the-linux-of-robotics|title=The Origin Story of ROS, the Linux of Robotics|website=IEEE Spectrum: Technology, Engineering, and Science News|language=en|access-date=2017-10-31}}</ref> the founders of the Stanford Personal Robotics Program,<ref>{{Cite web|url=http://personalrobotics.stanford.edu/|title=Stanford Personal Robotics Program|website=personalrobotics.stanford.edu|access-date=2017-07-03}}</ref> left Stanford to start the Personal Robotics Program at Willow Garage.<ref>{{Cite news|url=https://magazine.engineerjobs.com/2013/robot-operating-system.htm|title=Robot Operating System|date=2013-05-01|work=EngineerJobs Magazine|access-date=2017-07-03|language=en-US}}</ref> During that time, researchers at more than twenty institutions collaborated with Willow Garage engineers in a federated development model.<ref>{{cite web |url=http://www.ros.org/wiki/Repositories |title=Repositories |work=ROS.org |access-date=7 June 2011}}</ref><ref name=Quigley-ROS>{{cite web |url=http://www.robotics.stanford.edu/~ang/papers/icraoss09-ROS.pdf |title=ROS: an open-source Robot Operating System |first1=Morgan |last1=Quigley |first2=Brian |last2=Gerkey |first3=Ken |last3=Conley |first4=Josh |last4=Faust |first5=Tully |last5=Foote |first6=Jeremy |last6=Leibs |first7=Eric |last7=Berger |first8=Rob |last8=Wheeler |first9=Andrew |last9=Ng |author-link9=Andrew Ng |access-date=3 April 2010}}</ref>
===2009===
* 2/10/2009: ROS 0.4 Mango Tango released<ref>{{cite web|url=http://www.ros.org/news/2009/02/|title=ROS robotics news: February 2009 Archives|website=www.ROS.org|access-date=12 December 2017}}</ref>
* 2/16/2009: RVIZ first documented
* 5/12/2009: First published paper on ROS: ''ROS: an open-source Robot Operating System'' 5/12/2009 (Authors: Morgan Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, [[Andrew Ng|Andrew Y Ng]])<ref name=Quigley-ROS />
* 8/16/2009: ROS.org comes online<ref>{{cite web|url=http://www.ros.org/news/2009/08/welcome-to-ros-org.html|title=Welcome to ros.org - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
* 12/2/2009: First ROS tutorials released<ref>{{cite web|url=http://www.ros.org/news/2009/12/ros-tutorials-and-turtles.html|title=ROS Tutorials and Turtles - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
===2010===
* 1/22/2010: ROS 1.0 released
* 3/30/2010: First [[autonomous car]] running ROS announced with [[University of Texas at Austin|UT Austin]]<ref>{{cite web|url=http://www.ros.org/news/2010/03/robots-using-ros-marvin-autonomous-car.html|title=Robots Using ROS: Marvin autonomous car (Austin Robot Technology/UT Austin) - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
* 5/4/2010: Willow Garage awards PR2 to 11 institutions
** [[University of Freiburg]] (Germany)
** [[Robert Bosch GmbH|Bosch]]
** [[Georgia Institute of Technology|Georgia Tech]]
** [[KU Leuven]] (Belgium)
** [[Massachusetts Institute of Technology|MIT]]
** [[Stanford University|Stanford]]
** [[Technical University of Munich|TU Munich]] (Germany)
** [[University of California, Berkeley|UC Berkeley]]
** [[University of Pennsylvania|U Penn]]
** [[University of Southern California|USC]]
** [[University of Tokyo]] (Japan)
* 5/29/2010: First drone using ROS, from GRASP Lab at [[University of Pennsylvania|U Penn]]<ref>{{cite web|url=http://www.ros.org/news/2010/05/robots-using-ros-penn-quadrotors.html|title=Robots Using ROS: Penn Quadrotors - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
* 8/19/2010: First use of ROS on [[Lego Mindstorms]]<ref>{{cite web|url=http://www.ros.org/news/2010/08/robots-using-ros-lego-nxt.html|title=Robots Using ROS: Lego NXT - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
* 9/7/2010: PR2 robots made available for commercial purchase<ref>{{Cite web|url=http://www.willowgarage.com/blog/2010/09/07/pr2-pricing-and-open-source-discount|title=PR2 Robots Available for Purchase|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
===2011===
* 1/26/2011: First public appearance of TurtleBot, at Homebrew Robotics Club
* 2/15/2011: Introduction of ROS Answers<ref>{{cite web|url=http://www.ros.org/news/2011/02/announcing-ros-answers.html|title=Announcing ROS Answers - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
* 4/18/2011: Willow Garage announces TurtleBot<ref>{{cite web|url=http://www.willowgarage.com/blog/2011/04/18/turtlebots-available-preorder|title=ROS on the Move: TurtleBots available for preorder - Willow Garage|website=www.WillowGarage.com|access-date=12 December 2017}}</ref>
* 5/11/2011: First pure Java implementation of ROS announced at [[Google I/O]]<ref>{{Cite web|url=http://www.ros.org/news/2011/05/google-io-2011-cloud-robotics-ros-for-java-and-android.html|title=Google I/O 2011: Cloud Robotics, ROS for Java and Android - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
* 5/5/2011: ROS surpasses 100 repositories<ref>{{cite web|url=http://www.ros.org/news/2011/05/100-repositories.html|title=100 Repositories - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
** 100th repository is rl-texplore-ros-pkg from the [[University of Texas at Austin]]
* 11/8/2011: 4th anniversary of ROS and video compilation published<ref>{{Cite web|url=http://www.ros.org/news/2011/11/celebrating-the-fourth-anniversary-of-ros-and-the-first-roscon-2012.html|title=Celebrating the fourth anniversary of ROS... and the First ROSCon 2012 - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
===2012===
* 4/16/2012: Willow Garage spins out Open Source Robotics Foundation<ref>{{Cite web|url=http://www.willowgarage.com/blog/2012/04/16/open-source-robotics-foundation|title=Willow Garage Spins Out OSRF|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
* 4/17/2012: [[DARPA]] awards software contract to Open Source Robotics Foundation<ref>{{Cite news|url=https://spectrum.ieee.org/automaton/robotics/robotics-software/darpa-robotics-challenge-simulation-software-open-source-robotics-foundation|title=DARPA Awards Simulation Software Contract to Open Source Robotics Foundation|last=|first=|date=|work=|access-date=|archive-url=|archive-date=|dead-url=}}</ref>
* 5/19–20/2012: First ROSCon held in Saint Paul, MN<ref>{{Cite web|url=http://www.ros.org/news/2012/05/thanks-for-a-great-roscon-2012.html|title=Thanks for a great ROSCon 2012! - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
* 9/4/2012: First book on ROS published. ''ROS By Example'', by Patrick Goebel<ref>{{Cite web|url=http://www.ros.org/news/2012/09/new-book-ros-by-example.html|title=New Book: ROS by Example - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
* 9/17/2012: First commercial robot based on ROS released by [[Rethink Robotics]]<ref>{{Cite web|url=http://www.ros.org/news/2012/09/rethink-ros.html|title=Rethink ROS - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
* 11/7/2012: Five year anniversary of ROS, with video compilation<ref>{{Cite web|url=http://www.ros.org/news/2012/12/ros-five-years.html|title=ROS: Five Years - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
* 12/3/2012: ROS now running on every continent<ref>{{Cite web|url=http://www.ros.org/news/2012/12/ros-five-years.html|title=ROS: Five Years - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
===2013===
* February 2013, ROS stewardship transitioned to the Open Source Robotics Foundation.<ref>{{cite web|url=http://osrfoundation.org/blog/ros-at-osrf.html |title=Osrf - Ros @ Osrf |publisher=Osrfoundation.org |date=2013-02-11 |accessdate=2014-07-12}}</ref>
* 3/12/2013: 10,000 questions asked on ROS Answers<ref>{{Cite web|url=http://www.ros.org/news/2013/03/10000-questions-asked-on-ros-answers-1.html|title=10,000 Questions Asked on ROS Answers|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
* 5/11-12/2013: ROSCon 2013 takes place in Stuttgart, Germany
* 6/18/2013: Virtual Robotics Challenge takes place, the virtual stage of the [[DARPA Robotics Challenge]]
* August 2013, a blog posting<ref>{{cite web|url=http://www.willowgarage.com/blog/2013/08/21/willow-garage-employees-join-suitable-technologies |title=employees join Suitable Technologies |publisher=Willow Garage |date= |accessdate=2014-07-12}}</ref> announced that Willow Garage would be absorbed by another company started by its founder, [[Suitable Technologies]].
* 12/3/2013: ROS.org released<ref>{{cite web|url=http://www.ros.org/news/2013/12/a-new-wwwrosorg.html|title=A new www.ros.org - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
===2014===
* 1/15/2014: Support responsibilities for the PR2 created by Willow Garage taken over by [[Clearpath Robotics]]<ref>{{Cite web|url=https://www.clearpathrobotics.com/2014/01/clearpath-welcomes-pr2/|title=Clearpath Welcomes PR2 to the Family|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
* 2/7/2014: ROS Answers Reaches 15,000 Questions<ref>{{Cite web|url=http://www.ros.org/news/2014/02/ros-answers-reaches-15000-questions.html|title=ROS Answers Reaches 15,000 Questions|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
* 6/6/2014: ROS Kong, the first international ROS user group meeting
* 9/1/2014: First robot in space running on ROS, the Robonaut 2 on the [[International Space Station]]<ref>{{cite web|url=http://www.ros.org/news/2014/09/ros-running-on-iss.html|title=ROS running on ISS - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
* 9/12–13/2014: ROSCon 2014 takes place in Chicago. Program here.<ref>{{cite web|url=https://roscon.ros.org/2014static_replacement/program/|title=Program - ROSCon 2014|website=roscon.ROS.org|access-date=12 December 2017}}</ref>
** Industry attendees surpass academia attendees for first time
* 12/21/2014: First ROS meetup in Korea<ref>[http://www.ros.org/news/2015/01/notes-from-the-first-korean-ros-users-meetup.html ROS meetup in Korea]</ref>
===2015===
* 6/9/2015: [[DARPA Robotics Challenge]] takes place. Out of the 23 DRC Finals teams, 18 teams use ROS and 14 teams use Gazebo<ref>{{Cite web|url=https://www.osrfoundation.org/ros-gazebo-at-the-drc-finals/|title=ROS and Gazebo at DRC Finals|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
* 7/23/2015: First ROS Summer School in China<ref>{{Cite web|url=http://www.ros.org/news/2015/08/report-from-first-ros-summer-school-in-china.html|title=Report from first ROS Summer School in China - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
* 10/3/2015: ROSCon 2015.
* 11/3/2015: ROS 2 Alpha released
* 11/7/2015: Eighth anniversary of ROS, and video compilation<ref>{{cite web|url=http://www.ros.org/news/2015/12/ros-turns-8.html|title=ROS Turns 8 - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
* 09/09/2015 The Construct<ref>{{Cite web|url=http://www.theconstructsim.com/construct-learn-develop-robots-using-ros/|title=The Construct}}</ref> Launched ROS Development Studio. The cloud-based service utilizes Robot Operating System (ROS) to offer developers a place to develop and test robotics applications. <ref>{{cite web|url=http://www.theconstructsim.com/rds-ros-development-studio|dead-url=|title=ROS Development Studio}}</ref>
* 12/25/2015: Book release: ''Programming Robots with ROS: A Practical Introduction to the Robot Operating System''<ref>{{cite web|url=http://shop.oreilly.com/product/0636920024736.do|title=Programming Robots with ROS: A Practical Introduction to the Robot Operating System|website=OReilly.com|access-date=12 December 2017}}</ref>
===2016===
* 2/18/2016: First Danish ROS meetup<ref>{{Cite web|url=http://www.ros.org/news/2016/01/invitation-to-the-first-danish-ros-meetup.html|title=First Danish ROS Meetup|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
* 7/22/2016: Second ROS Summer School in China<ref>{{Cite web|url=http://www.ros.org/news/2016/07/ros-summer-school-in-china-2016-july-22-28.html|title=ROS Summer School in China 2016, July 22-28 - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
* 9/01/2016: The Construct <ref>{{Cite web|url=http://www.theconstructsim.com/construct-learn-develop-robots-using-ros/|title=The Construct}}</ref> Launched Robot Ignite Academy. The cloud based academy utilizes Robot Operating System (ROS) and Gazebo to teach ROS online <ref>{{Cite web|url=http://www.theconstructsim.com/construct-learn-develop-robots-using-ros/robotigniteacademy_learnros/|title=ROS Robot Ignite Academy}}</ref>
* 9/15/2016: OSRF announces collaboration with [[Toyota Research Institute]]<ref>{{Cite web|url=https://www.osrfoundation.org/were-collaborating-with-toyota-research-institute/|title=OSRF Collaboration with TRI|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
* 10/7/2016: Bosch underwrites full-time position at OSRF<ref>{{Cite web|url=https://www.osrfoundation.org/bosch-research-and-technology-center-joins-forces-with-open-source-robotics-foundation-to-advance-the-development-of-ros/|title=Bosch Underwrites Full-Time Position at OSRF|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
===2017===
* 3/21/2017: First Ukrainian ROS Meetup<ref>{{Cite web|url=http://www.ros.org/news/2017/03/invitation-to-the-first-ukrainian-ros-meetup.html|title=First Ukrainian ROS Meetup|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
* 5/16/2017: Open Source Robotics Foundation changed its name to Open Robotics.<ref>{{cite web|url=https://www.osrfoundation.org/welcome-to-open-robotics/|title=Welcome to Open Robotics|website=www.OSRFoundation.org|access-date=12 December 2017}}</ref>
* 7/22/2017: Third ROS Summer School in China<ref>{{cite web|url=https://discourse.ros.org/t/ros-summer-school-in-china-july-22-28-2017/1977|title=ROS Summer School in China, July 22-28, 2017|website=Discourse.ROS.org|access-date=12 December 2017}}</ref>
* 9/21/2017: ROSCon 2017. Program here.<ref>{{cite web|url=https://roscon.ros.org/2017/#program|title=ROSCon 2017|website=roscon.ROS.org|access-date=12 December 2017}}</ref>
===2018===
* 5/23/2018: ROS Melodic Morenia<ref>{{Cite web|url=http://wiki.ros.org/melodic|title=melodic - ROS Wiki|website=wiki.ros.org|access-date=2018-05-28}}</ref>
* 7-8/07/2018: First ROS Developers Conference (ROSDevCon). The worldwide Online conference for developers to learn from experts how to program robots with ROS<ref>{{Cite web|url=http://www.theconstructsim.com/ros-developers-online-conference-2018-rdc-worldwide/|title=ROSDevCon2018}}</ref>
* 9/28/2018: Microsoft ported Core ROS to Windows 10
* 9/29/2018: ROSCon 2018 in Madrid.
*11/26/2018: Amazon launches AWS RoboMaker. The cloud-based service utilizes Robot Operating System (ROS) to offer developers a place to develop and test robotics applications.
==Applications==
ROS areas include:
* a master coordination node
* publishing or subscribing to data streams: images, stereo, laser, control, actuator, contact sensor, etc.
* multiplexing information
* node creation and destruction
* nodes are seamlessly distributed, allowing distributed operation over multi-core, multi-processor, GPUs, and clusters
* logging
* parameter server
* test systems
ROS package application areas will include:
* perception
* object identification
* [[segmentation (image processing)|segmentation]] and recognition
* [[facial recognition system|Face recognition]]
* [[gesture recognition]]
* [[video tracking|motion tracking]]
* [[egomotion]]
* [[motion understanding]]
* [[structure from motion]] (SFM)
* [[stereopsis|stereo vision]]: depth perception via two cameras
* motion
* [[mobile robotics]]
* control
* planning
* grasping
=== ROS-Industrial ===
ROS-Industrial<ref>{{cite web|url=https://rosindustrial.org/about/description/|title=ROS-Industrial About|website=rosindustrial.org|access-date=12 December 2017}}</ref> is an open-source project (BSD (legacy) / Apache 2.0 (preferred) license) that extends the advanced capabilities of ROS to manufacturing automation and robotics. The ROS-Industrial repository includes interfaces for common industrial manipulators, grippers, sensors, and device networks. It also provides software libraries for automatic 2D/3D sensor calibration, process path/motion planning, applications like Scan-N-Plan, developer tools like the Qt Creator ROS Plugin, and training curriculum that is specific to the needs of manufacturers. ROS-I is supported by an international Consortium of industry and research members. The project began as a collaborative endeavor between Yaskawa Motoman Robotics, Southwest Research Institute, and Willow Garage to support the use of ROS for manufacturing automation, with the GitHub repository being founded in January 2012 by Shaun Edwards (SwRI). Currently, the Consortium is divided into three groups; the ROS-Industrial Consortium Americas (led by SwRI and located in San Antonio, Texas), the ROS-Industrial Consortium Europe (led by Fraunhofer IPA and located in Stuttgart, Germany) and the ROS-Industrial Consortium Asia Pacific (led by Advanced Remanufacturing and Technology Centre (ARTC) and Nanyang Technological University (NTU) and located in Singapore).
The Consortia supports the global ROS-Industrial community by conducting ROS-I training, providing technical support and setting the future roadmap for ROS-I, as well as conducting pre-competitive joint industry projects to develop new ROS-I capabilities.<ref>{{Cite web|url=https://rosindustrial.org/briefhistory/|title=Brief History|website=ROS-Industrial|language=en-US|access-date=2018-07-11}}</ref>
==Version history==
ROS releases may be incompatible with other releases and are often referred to by code name rather than version number. The major releases so far are:
{| class="wikitable" style="float:center; text-align:center; margin-left:1em; margin-right:0"
|-
! Distro
! Release date
! Poster
! EOL date
|-
|Melodic Morenia
|May 23, 2018
|[[File:Melodic Morenia.png|75px]]
|{{Version|c|2023-05-30}}
|-
|Lunar Loggerhead
|May 23, 2017
|[[File:ROS Lunar Loggerhead.png|75px]]
|{{Version|c|2019-05-30}}
|-
|Kinetic Kame
|May 23, 2016
|[[File:Kinetic.png|75px]]
|{{Version|c|2021-05-30}}
|-
|Jade Turtle
|May 23, 2015
|[[File:ROS_jade_logo.png|75px]]
|{{Version|o|2017-05-30}}
|-
|Indigo Igloo
|July 22, 2014
|[[File:Indigoigloo 600.png|75px]]
|{{Version|co|2019-04-30}}
|-
|Hydro Medusa
|September 4, 2013
|[[File:ROS Hydro logo.png|75px]]
|{{Version|o|2014-05-31}}
|-
|Groovy Galapagos
|December 31, 2012
|[[File:ROS Groovy logo.jpg|75px]]
|{{Version|o|2014-07-31}}
|-
|Fuerte Turtle
|April 23, 2012
|[[File:ROS Fuerte logo.jpg|75px]]
|{{Version|o|--}}
|-
|Electric Emys
|August 30, 2011
|[[File:ROS Electric logo.png|75px]]
|{{Version|o|--}}
|-
|Diamondback
|March 2, 2011
|[[File:ROS Diamondback logo.jpg|75px]]
|{{Version|o|--}}
|-
|C Turtle
|August 2, 2010
|[[File:ROS C logo.jpg|75px]]
|{{Version|o|--}}
|-
|Box Turtle
|March 2, 2010
|[[File:ROS Box logo.png|75px]]
|{{Version|o|--}}
|-
| colspan="98" | {{Version |l |show=011101}}
|}
==Ports to robots and boards==
* ABB, Adept, Fanuc, Motoman, and Universal Robots are supported by [[ROS-Industrial]]<ref>{{cite web|url=http://rosindustrial.org/|title=Home|website=ROS-Industrial|access-date=12 December 2017}}</ref>
* [[Baxter (robot)|Baxter]]<ref>Baxter http://www.rethinkrobotics.com/products/baxter-research-robot/baxter-research-robot-qa/</ref> at [[Rethink Robotics]], Inc.
* BeagleBoard. The robotics lab of the [[Katholieke Universiteit Leuven]], [[Belgium]]<ref>K U leuven http://people.mech.kuleuven.be/%7Eu0062536/embsensor.html</ref> has ported ROS to the [[Beagleboard]]
* HERB<ref>{{cite web|url=http://personalrobotics.intel-research.net/|title=CMU Personal Robotics Lab|website=personalrobotics.Intel-Research.net|access-date=12 December 2017}}</ref> developed at [[Carnegie Mellon University]] in Intel's personal robotics program
* Husky A200 robot developed (and integrated into ROS) by [[Clearpath Robotics]]<ref>{{cite web|url=http://www.clearpathrobotics.com/husky|title=Husky UGV - Outdoor Field Research Robot by Clearpath|website=ClearPathRobotics.com|access-date=12 December 2017}}</ref>
* PR1 personal robot developed in Ken Salisbury's lab at Stanford<ref>{{cite web|url=http://personalrobotics.stanford.edu/|title=Stanford Personal Robotics Program|website=personalrobotics.Stanford.edu|access-date=12 December 2017}}</ref>
* PR2 personal robot being developed at Willow Garage<ref>[http://www.willowgarage.com/pages/robots PR2]</ref>
* Raven II Surgical Robotic Research Platform<ref>B. Hannaford, J. Rosen, Diana CW Friedman, H. King, P. Roan, L. Cheng, D. Glozman, J. Ma, S.N. Kosari, L. White, 'Raven-II: AN Open Platform for Surgical Robotics Research,' IEEE Transactions on Biomedical Engineering, vol. 60, pp. 954-959, April 2013.</ref><ref>{{cite web|url=http://brl.ee.washington.edu/laboratory/ |title=BioRobotics Laboratory | Biorobotics Laboratory - University of Washington |publisher=Brl.ee.washington.edu |date= |accessdate=2014-07-12}}</ref>
* rosbridge protocol and server<ref>rosbridge protocol and server http://www.ros.org/wiki/rosbridge</ref> Brown University<ref name="auto">brown-robotics http://brown-robotics.org/</ref> developed the rosbridge protocol to enable any robot or computing environment to integrate with ROS using JSON-based messaging, such as for common web browsers, Matlab, Microsoft Windows, OS X, and embedded systems
* Shadow Robot Hand<ref>[http://www.shadowrobot.com/products/dexterous-hand/ SDH]</ref> – A fully dexterous humanoid hand.
* STAIR I and II<ref>STAIR I and II http://stair.stanford.edu/index.php</ref> robots developed in [[Andrew Ng]]'s lab at Stanford
* SummitXL:<ref>{{cite web|url=http://www.robotnik.eu/mobile-robots/summit-xl/ |title=Summit XL - Robotnik |publisher=Robotnik.es |date= |accessdate=2014-07-12}}</ref> Mobile robot developed by [[Robotnik Automation|Robotnik]], an engineering company specialized in mobile robots, robotic arms, and industrial solutions with ROS architecture.
* Nao<ref>{{cite web|url=http://www.ros.org/wiki/nao |title=nao - ROS Wiki |publisher=Ros.org |date=2013-10-28 |accessdate=2014-07-12}}</ref> humanoid: [[University of Freiburg]]'s Humanoid Robots Lab<ref>Humanoid Robots Lab http://hrl.informatik.uni-freiburg.de/</ref> developed a ROS integration for the [[Nao (robot)|Nao humanoid]] based on an initial port by Brown University<ref name="auto"/><ref>G.T. Jay, [http://code.ros.org/lurker/message/20091101.232446.5217521d.gl.html Post to ros-users mailing list announcing ROS support for the Nao]</ref>
* UBR1<ref>{{cite web|url=http://unboundedrobotics.com/ubr-1/specification/ |title=Specification |publisher=Unbounded Robotics |date= |accessdate=2014-07-12}}</ref><ref>{{cite web|last=Ackerman |first=Evan |url=http://spectrum.ieee.org/automaton/robotics/industrial-robots/unbounded-robotics-revolutionizes-affordable-mobile-manipulation-with-ubr1 |title=UBR-1 Robot From Unbounded Robotics Revolutionizes Affordable Mobile Manipulation - IEEE Spectrum |publisher=Spectrum.ieee.org |date=2013-10-21 |accessdate=2014-07-12}}</ref> developed by Unbounded Robotics, a spin-off of Willow Garage.
* Raspberry Pi: image of ubuntu Mate with ROS<ref>{{cite web|url=https://downloads.ubiquityrobotics.com/ |title=Ubiquity Robotics Downloads |publisher= |date= |accessdate=29 January 2018}}</ref> by Ubiquity Robotics; installation guide for Raspbian<ref>{{cite web|url=http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi |title=ROSberryPi/Installing ROS Kinetic on the Raspberry Pi |publisher= |date= |accessdate=29 January 2018}}</ref>
* ROSbot: autonomous robot platform by Husarion<ref>[https://husarion.com/core2/manuals/rosbot-manual/#rosbot-manual-overview Husarion ROSbot manual]</ref>
* [[Webots]]: robot simulator integrating a complete ROS programming interface<ref>{{cite web|url=https://www.cyberbotics.com/doc/guide/using-ros |title=Using ROS with Webots |publisher= |date= |accessdate=2018-05-18}}</ref>.
==ROS packages==
ROS contains many open source implementations of common robotics functionality and algorithms. These open source implementations are organized into "packages". Many packages are included as part of ROS distributions, while others may be developed by individuals and distributed through code sharing sites such as github.
==See also==
{{Portal|Robotics|Free and open-source software}}
* [[Open hardware]]
* [[Robotics middleware]]
* [[Open source software]]
==References==
{{Reflist|2}}
;Notes
{{refbegin}}
* STAIR: The STanford Artificial Intelligence Robot project, [[Andrew Ng|Andrew Y. Ng]], Stephen Gould, Morgan Quigley, [[Ashutosh Saxena]], Eric Berger. Snowbird, 2008.
{{refend}}
==Related projects==
* [[RT middleware]] – Robot middleware standard/implementations. RT-component is discussed / defined by the [[Object Management Group]].
==External links==
* {{Official website|http://www.ros.org}}
[[Category:2007 in robotics]]
[[Category:2007 software]]
[[Category:Computer vision software]]
[[Category:Free software operating systems]]
[[Category:Open-source robots]]
[[Category:Robot operating systems]]
[[Category:Robotic manipulation|manipulation]]
[[Category:Robotics suites]]
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