ROS Course Day 3 PDF

ROS For Absolute Beginners
(Robot Operating System)
Lentin Joseph
http://robocademy.com Founder/Instructor of Robocademy
Founder of Qbotics Labs
Day 3
ROS Concepts
http://robocademy.com
Agenda
• What is ROS Build System?
• Setting a ROS workspace
• ROS File System Level
• ROS Computation Graph Level
Agenda
• ROS Community Level
• ROS Command Tools
• Learning ROS concepts using Turtlesim Demo
Build System in ROS
• What is a build system in ROS?
• A build system is responsible for generating 'targets' from

raw source code that can be used by an end user.
• These targets may be in the form of libraries, executable

programs, generated scripts, exported interfaces (e.g. C++
header files) or anything else that is not static code.
• In ROS terminology, source code is organized into

'packages' where each package typically consists of one or
more targets when built.
Which ROS build system are we
using now ??
• What is catkin build system ?
• http://wiki.ros.org/catkin/conceptual_overview
• A CMake(Cross Platform Make) based +
Python scripted system
• Helps to build source code in cross platform
• Better distribution of package
• Better than rosbuild build system used till
ROS- groovy
Task 1
• Install Terminal tool called Terminator
• $ sudo apt-get install terminator
How to create a workspace for
ROS?
• What is a workspace ?
• How to create a catkin based workspace ?
• http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguring
ROSEnvironment
• $ mkdir -p ~/ros_catkin_ws/src
• $ cd ~/ros_catkin_ws/src
• $ catkin_init_workspace
How to create a workspace for
ROS?
• $ cd ~/ros_catkin_ws/
• $ catkin_make
• $ echo "source
~/ros_catkin_ws/devel/setup.bash"
>> ~/.bashrc
How to create a workspace in
ROS?
Creating a ROS Workspace: Demo
ROS Levels of Concepts
• ROS File System Level
• ROS Computational Level
• ROS Community Level
ROS File System
ROS File System
• Packages
• Metapackages
• Package Manifest
• Repositories
• Message (msg) types
• Service (srv) types
What is a ROS Package ?
• http://wiki.ros.org/Packages
• Software in ROS is organized in packages.
• A package might contain ROS nodes, a ROS-

independent library, a dataset, configuration files, a third-
party piece of software, or anything else that logically
constitutes a useful module.
• The goal of these packages it to provide this useful

functionality in an easy-to-consume manner so that
software can be easily reused.
How to create a hello_world ROS
package inside ROS workspace?
• Goto src folder of ros_catkin_ws
• $ cd ~/ros_catkin_ws/src
• $ catkin_create_pkg hello_world
std_msgs rospy roscpp
Inside hello_world package
The CMakeFile.txt
The package Manifest
How to build hello_world package
• Switch to ROS workspace
– $ cd ~/ros_catkin_ws
• Build the packages inside workspace
– $ catkin_make
– $ catkin_make install
• Check package is installed
– $ roscd hello_world
How to create/build a hello_world
ROS package?
• Creating and Building a Package Demo
Structure of ROS Package
CMakeLists.txt
package.xml talker.py
talker.cpp
tistener.py
listener.cpp
config include scripts src
launch msg srv action
ROS Computation Graph Level
• Nodes
• Master
• Parameter Server
• Message
• Topics
• Services
• Bags
ROS Nodes
What is a ROS Node ??
• Nodes: Nodes are processes that perform
computation.
• A robot control system usually comprises many nodes.
For example, one node controls a laser range-finder,
one node controls the wheel motors, one node
performs localization, one node performs path
planning, one Node provides a graphical view of the
system, and so on.
• A ROS node is creating with the help of ROS client

libraries, such as roscpp or rospy.
ROS Topics
• Topics are named buses over
which nodes exchange messages.
Topic : /talker
Message : std_msgs/String
Publish data
Topic : /talker listener node
talker node
Subscribe data
ros node 1 ros node 2
ROS Message
• Nodes communicate with each other by
publishing messages through topics.
• A message is a simple data structure,
comprising typed fields.
• Standard primitive types (integer, floating
point, Boolean, etc.) are supported, as are
arrays of primitive types.
ROS Message
• Example :
• std_msgs , eg : std_msgs/String
• sensor_msgs , eg: sensor_msgs/Image
• geometry_msgs ,eg:
geometry_msgs/Twist
• Custom Message definitions stored in
msg folder inside a ROS package
ROS Master
• The ROS Master provides naming and registration services
to the rest of the nodes in the ROS system.
• It tracks publishers and subscribers to topics as well

as services.
• The role of the Master is to enable individual ROS nodes to

locate one another. Once these nodes have located each
other they communicate with each other peer-to-peer.
• The Master also provides the Parameter Server.
• The Master is most commonly run using

the roscore command, which loads the ROS Master along
with other essential components.
How ROS inter process
communication works ?
Publish String Message
Topic : /talker
Message : std_msgs/String ROS Master
listener
talker
node
node
Subscribe String Message
Publish String Message
Topic : /talker
Topic : /talker
Message : std_msgs/String ROS Master
listener
talker
node
node
Publish String Message Subscribe String Message
Topic : /talker ROS Master Topic : /talker
Message : std_msgs/String Message : std_msgs/String
listener
talker
node
node
/talker
“Hello World”
Block Diagram of ROS Master
• Naming and Registration of Nodes
• Parameter Server
– Stores various parameters of nodes in a
centralized location
Naming and Registration

Parameter Server
Services
ROS Community Level
• Distributions: Distribution are collection of

versioned stacks that you can install
• Repositories:
• The ROS Wiki
• Mailing List
• ROS Answers
• Blog
ROS Command tools
Command : roscore
• roscore is a collection of nodes and programs
that are pre-requisites of a ROS-based
system.
• You must have a roscore running in order

for ROS nodes to communicate. It is
launched using the roscore command.
• roscore = rosmaster + parameter server +

rosout logging node
Try roscore in your terminal
Command : rostopic
Command : rosnode
Command : rosparam
Command : rosrun
roscpp tutorials: talker & listener
• $ roscore
[Publisher]
• $ rosrun roscpp_tutorials talker
[Subscriber]
• $ rosrun roscpp_tutorials listener
Playing with ROS command tools
Turtlesim Demo
Learn ROS using Turtlesim
• http://wiki.ros.org/turtlesim
Launching turtlesim
• $ roscore [In first terminal]
• $ rosrun turtlesim turtlesim_node [In

second terminal]
Launching turtlesim
Moving turtle
• $ rosrun turtlesim turtle_teleop_key
Moving turtle
Inspecting ROS Topic
Inspecting ROS Parameter
Communication graph
Turtlesim Demo: Draw Square
• $ roscore [In first terminal]
• $ rosrun turtlesim turtlesim_node [In

second terminal]
• rosrun turtlesim draw_square
Turtlesim Demo: Draw Square
Conclusion
• Discussed ROS Build system, ROS File
system level, computation level and
Community level
• Discussed ROS commands tools
• Worked with ROS concepts using

Turtlesim demo

ROS Course Day 3 PDF

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ROS For Absolute Beginners

(Robot Operating System)

• Setting a ROS workspace

• ROS File System Level

• ROS Computation Graph Level

• ROS Community Level

• ROS Command Tools

• Learning ROS concepts using Turtlesim Demo

• A build system is responsible for generating 'targets' from

• These targets may be in the form of libraries, executable

• In ROS terminology, source code is organized into

• ROS File System Level

• ROS Computational Level

• ROS Community Level

• Software in ROS is organized in packages.

• A package might contain ROS nodes, a ROS-

• The goal of these packages it to provide this useful

config include scripts src

launch msg srv action

• A ROS node is creating with the help of ROS client

• It tracks publishers and subscribers to topics as well

• The role of the Master is to enable individual ROS nodes to

• The Master is most commonly run using

Message : std_msgs/String ROS Master

Topic : /talker ROS Master Topic : /talker

Message : std_msgs/String Message : std_msgs/String

Naming and Registration

• Distributions: Distribution are collection of

• You must have a roscore running in order

• roscore = rosmaster + parameter server +

• $ roscore [In first terminal]

• $ rosrun turtlesim turtlesim_node [In

• $ rosrun turtlesim turtle_teleop_key

• $ roscore [In first terminal]

• $ rosrun turtlesim turtlesim_node [In

• rosrun turtlesim draw_square

• Discussed ROS commands tools

• Worked with ROS concepts using

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