User:ApprehensiveAndroid/sandbox: Difference between revisions

Revision as of 05:24, 29 April 2019

Revision as of 06:04, 29 April 2019

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roslaunch<ref>{{Cite web|url=http://wiki.ros.org/roslaunch|title=roslaunch - ROS Wiki|website=wiki.ros.org|access-date=2019-04-23}}</ref> is a tool used to launch multiple ROS nodes both locally and remotely, as well as setting parameters on the ROS parameter server. roslaunch configuration files, which are written using [[XML]] can easily automate a complex startup and configuration process into a single command. roslaunch scripts can include other roslaunch scripts, launch nodes on specific machines, and even restart processes which die during execution.

== ROS Packagespackages ==

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. Some packages of note include:

{{Comment}} Highlight important and standard packages, things like actionlib, nodelets, cv_bridge, gmapping, amcl.

==== Systems and Tools ====

==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

* ''actionlib''<ref>{{Cite web|url=http://wiki.ros.org/actionlib|title=actionlib - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides a standardized interface for interfacing with preemtable tasks.

ROS package application areas will include:

* ''nodelet''<ref>{{Cite web|url=http://wiki.ros.org/nodelet|title=nodelet - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides a way to run multiple algorithms in a single process.

* ''rosbridge''<ref>{{Cite web|url=http://wiki.ros.org/rosbridge_suite|title=rosbridge_suite - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides a JSON API to ROS functionalities for non-ROS programs.

* perception

* object identification

==== Mapping and Localization ====

* [[segmentation (image processing)|segmentation]] and recognition

* [[facial recognition system|Face recognition]]

* ''gmapping''<ref>{{Cite web|url=http://wiki.ros.org/gmapping|title=gmapping - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides a wrapper for [[OpenSlam|OpenSlam's]] [[Gmapping]] algorithm for [[Simultaneous localization and mapping|simultaneous localization and mapping.]]

* [[gesture recognition]]

* ''cartographer''<ref>{{Cite web|url=http://wiki.ros.org/cartographer|title=cartographer - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides real time 2D and 3D SLAM algorithms developed at [[Google]].

* [[video tracking|motion tracking]]

* ''amcl''<ref>{{Cite web|url=http://wiki.ros.org/amcl|title=amcl - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides an implementation of [[Monte Carlo localization|adaptive Monte-Carlo localization.]]

* [[egomotion]]

* [[motion understanding]]

==== Navigation ====

* [[structure from motion]] (SFM)

* [[stereopsis|stereo vision]]: depth perception via two cameras

* ''nav2d''<ref>{{Cite web|url=http://wiki.ros.org/nav2d|title=nav2d - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides the capability of navigating a mobile robot in a planar environment.

* motion

* [[mobile robotics]]

==== Perception ====

* control

* planning

* ''vision_opencv''<ref>{{Cite web|url=http://wiki.ros.org/vision_opencv?distro=melodic|title=vision_opencv - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> is a meta-package which provides packages for integrating ROS with [[OpenCV]].

* grasping

==== Coordinate Frame Representation ====

* ''tf''<ref>{{Cite web|url=http://wiki.ros.org/tf|title=tf - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provided a system for representing, tracking and transforming coordinate frames until ROS Hydro, when it was deprecated in favor of tf2.

* ''tf2''<ref>{{Cite web|url=http://wiki.ros.org/tf2|title=tf2 - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> is the second generation of the tf library, and provides the same capabilities for ROS versions after Hydro.

==== Simulation ====

* ''gazeo_ros_pkgs''<ref>{{Cite web|url=http://wiki.ros.org/gazebo_ros_pkgs|title=gazebo_ros_pkgs - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> is a meta-package which provides packages for integrating ROS with the [[Gazebo simulator|Gazebo]] simulator.

* ''stage''<ref>{{Cite web|url=http://wiki.ros.org/stage|title=stage - ROS Wiki|website=wiki.ros.org|access-date=2019-04-29}}</ref> provides an interface for the 2D [[Player/Stage Project|Stage]] simulator.

==Versions and Releases==

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* 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]]

* 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>

==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==