Content deleted Content added
A complete overhaul of the history section. |
Added catkin section and small updates to introduction |
||
Line 6:
{{Infobox software
| name =
| logo
| logo size
| logo caption
| screenshot
| caption
| author
| released
| 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
| operating system
| genre
| license
| website
| programming_language
}}
'''Robot Operating System''' ('''ROS or 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 data, 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
Software in the ROS Ecosystem<ref>{{cite web
* 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 license|open source licenses]]. These other packages implement commonly used functionality and applications such as hardware drivers, robot models, datatypes, planning, [[Robotic sensing|perception]], [[simultaneous localization and mapping]], simulation tools, and other algorithms.
The main ROS client libraries
==History==
Line 43:
In December 2008, Willow Garage met the first of their three internal milestones: continuous navigation for the PR2 over a period of two days and a distance of pi kilometers<ref>{{Citation|last=WillowGaragevideo|title=Milestone 1|date=2008-12-19|url=https://www.youtube.com/watch?v=iGoqYm7-NkQ|access-date=2019-04-29}}</ref>. Soon after, an early version of ROS (0.4 Mango Tango)<ref>{{Cite web|url=http://www.ros.org/news/2009/02/ros-04-release.html|title=ROS 0.4 Release - ROS robotics news|website=www.ros.org|access-date=2019-04-29}}</ref> was released, followed by the first RVIZ documentation and the first paper on ROS<ref name="Quigley-ROS" />. In early summer, the second internal milestone: having the PR2 navigate the office, open doors, and plug itself it in, was reached<ref>{{Citation|last=WillowGaragevideo|title=Milestone 2 Explained|date=2009-07-02|url=https://www.youtube.com/watch?v=I1emTXIzhZw|access-date=2019-04-29}}</ref>. This was followed in August by the initiation of the ROS.org website<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>. Early tutorials on ROS were posted in December<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>, preparing for the release of ROS 1.0, in January of 2010<ref>{{Cite web|url=http://www.ros.org/news/2010/01/ros-10.html|title=ROS 1.0 - ROS robotics news|website=www.ros.org|access-date=2019-04-29}}</ref>. This was Milestone 3: producing tons of documentation and tutorials for the enormous capabilities that Willow Garage’s engineers had developed over the preceding 3 years.
Following this, Willow Garage achieved one of its longest held goals: giving away 10 PR2 robots to worthy academic institutions.
[[File:ROS Antarctica sunset.jpg|thumb|An image of Robot Operating System (ROS) running in Antarctica.]]
2011 was a banner year for ROS with the launch of ROS Answers, a Q/A forum for ROS users, on February 15th<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>; the introduction of the highly successful Turtlebot robot kit on April 18th<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>; and the total number of ROS repositories passing 100 on May 5th<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>. Willow Garage began 2012 by creating the [[Open Source Robotics Foundation]] (OSRF)<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> in April. The OSRF was immediately awarded a software contract by DARPA<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>. Later that year, the first ROSCon was held in St. 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>, the first book on ROS, ''ROS By Example''<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>, was published, and the Baxter, first commercial robot to run ROS, was announced 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>. Soon after passing its fifth anniversary in November, ROS began running on every continent on December 3rd, 2012<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>.
Line 64 ⟶ 66:
ROS's core functionality is augmented by a variety of tools which allow developers to visualize and record data, easily navigate the ROS package structures, and create scripts automating complex configuration and setup processes. The addition of these tools greatly increases the capabilities of systems using ROS by simplifying and providing solutions to a number of common robotics development. These tools are provided in packages like any other, but rather than providing implementations of hardware drivers or algorithms for various robotic tasks, these packages provide task and robot-agnostic tools which most developers use as a matter of course.
=== rviz ===
rviz<ref>{{Cite web|url=http://wiki.ros.org/rviz|title=rviz - ROS Wiki|website=wiki.ros.org|access-date=2019-04-23}}</ref> is a three-dimensional visualizer used to visualize robots, the environments they work in, and sensor data. It is an highly configurable tool, with many different types of visualizations and plugins.
===rosbag===
rosbag<ref>{{Cite web|url=http://wiki.ros.org/rosbag|title=rosbag - ROS Wiki|website=wiki.ros.org|access-date=2019-04-23}}</ref> is a command line tool used to record and playback ROS message data. rosbag uses a file format called bags<ref>{{Cite web|url=http://wiki.ros.org/Bags|title=Bags - ROS Wiki|website=wiki.ros.org|access-date=2019-04-23}}</ref>, which log ROS messages by listening to topics and recording messages as they come in. Playing messages back from a bag is largely the same as having the original nodes which produced the data in the ROS computation graph, making bags a useful tool for recording data to be used in later development. While rosbag is a command line only tool, rqt_bag<ref>{{Cite web|url=http://wiki.ros.org/rqt_bag|title=rqt_bag - ROS Wiki|website=wiki.ros.org|access-date=2019-04-23}}</ref> provides a GUI interface to rosbag.
=== catkin ===
catkin<ref>{{Cite web|url=http://wiki.ros.org/catkin|title=catkin - ROS Wiki|last=|first=|date=|website=wiki.ros.org|archive-url=|archive-date=|dead-url=|access-date=2019-04-29}}</ref> is the ROS build system, having replaced rosbuild<ref>{{Cite web|url=http://wiki.ros.org/rosbuild|title=rosbuild - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> as of ROS Groovy. catkin is based on [[CMake]], and is similarly cross-platform, open source, and language-independent.
===rosbash===
| |||