ROS is Robot Operating System (Android OS) is short, is a meta-oriented robot open source operating system (open-source, meta-operating system). It provides features like traditional operating systems such as hardware abstraction, underlying device control, interprocess messaging, and package management. In addition, it provides tools and libraries for acquiring, compiling, editing, and running programs between multiple computers to perform distributed computing. ROS's operational architecture is a processing architecture that uses ROS communication modules to implement loosely coupled network connections between modules. It performs several types of communication, including service-based synchronous RPC (remote procedure call) communication, Topic-based asynchronous Data stream communication, as well as data storage on the parameter server.
history
ROS originated from the collaboration between the STAIR (Stanford Artificial Intel ligence Robot) project at Stanford University's Artificial Intelligence Laboratory and WillowGarage's Personal Robotics project around 2007. ROS0.4 was introduced in early 2009, and the framework of the system used now has taken shape in this version. After nearly a year of testing, ROS version 1.0 was launched in early 2010, and the official release version: ROSBoxTurtle was launched in March of that year. Up to now (May 2016) 10 versions have been released. The latest version is ROSKineticKame. . What's more interesting is that all versions of ROS use the turtle as the release code, and so far, 10 unique "ROS turtles" have been designed.
From 2008 to 2013, ROS was mainly managed and maintained by WillowGarage, but this does not mean that ROS is a closed system. On the contrary, it is jointly developed and maintained by many schools and research institutions. This joint development model is also The construction and growth of the ROS system ecosystem has brought about a powerful promotion. In 2013, WillowGarage was acquired by Suiteable Technologies. In the past few months, ROS development and maintenance management was handed over to the newly established Open Source Robotics Foundation.
Characteristics
The main goal of ROS is to provide code reuse support for robot research and development. ROS is a distributed process (ie "node") framework that is packaged in packages and feature packs that are easy to share and publish. ROS also supports a federated system similar to a code repository, which also enables engineering collaboration and publishing. It enables a project's development and implementation to be completely independent from the file system to the user interface (not subject to ROS restrictions). At the same time, all projects can be integrated by the basic tools of ROS.
ROS is somewhat similar to other common robot architectures such as Player, Orocos, CARMEN, Orca, and Microsoft RoboticsStudio. For simple robotless mobile platforms, Player is a great choice. ROS is different, it is designed for mobile platforms with tilt arms, motion sensors (inclination lasers, pan/tilt, robotic sensors). Compared with Player, ROS is more conducive to distributed computing environments. Of course, Player provides more hardware drivers, and ROS provides more algorithmic applications on high-level architectures (such as integrated OpenCV visual algorithms).
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