Introduction to ROS (Robot Operating System)

Common Point Among Robots

• All robots can be powered by ROS.
• ROS stands for Robot Operating System.
• It’s a middleware/framework for robotics applications.

Goals and Philosophy of ROS

• Standardization: Provides a standard for robotic software development.
• Efficiency: Once proficient with ROS, setting up new software for a new robot becomes quicker.
• Reusability: Skills gained programming one robot in ROS can apply to others.
• Prevent Reinventing the Wheel: Encourage building on existing software rather than starting from scratch.

When to Use ROS

• For complex applications requiring multiple sensors, actuators, and controllers.
• Example: A mobile robot using GPS and a camera.
• Not necessary for very simple tasks (e.g., opening a door with a servo motor upon movement detection).

What is ROS?

• Communication and Modularity: Separates code into reusable blocks (nodes) with communication tools.
  • Example: Nodes for camera, motion planning, hardware driver, joystick, etc.
• Libraries: Provides many plug-and-play libraries to save time and avoid reinventing the wheel.
  • Example: Inverse kinematics and motion planning can be handled by existing libraries instead of building from scratch.
• Language Agnostic: Can use multiple programming languages in one application as ROS doesn’t rely on a specific language.

Course Focus

• ROS basics and core functionalities.
• Use of Python and C++ for ROS programming.
• ROS is open-source with an active community for support and collaboration.

Final Notes

• Initial understanding of ROS might be difficult but with practice, its value becomes evident.
• The course will help in understanding the big picture and practical applications of ROS.