ECE 417/598: Robot Operating System


Pros and Cons of ROS

Provides lots of infrastructure, tools, and capabilities Changing and backward compatibility is poor
Easy to try otder people's work and share your own Security and scalability are not first-class concerns
Free, open source, BSD license OSes otder tdan Ubuntu Linux are not well supported
Great for prototyping new projects (for researchers) Not great for mission-critical tasks (production/industry/competitions)

Linux terminology

  • Kernel
  • Shell
  • Processes

Linux basic commands

  • ls
  • mkdir
  • cd
  • cp
  • mv
  • cat
  • grep
  • fg/bg
  • ps
  • kill

Linux filesystem permissions

ls -l

Linux Environment variable examples

  • USER (your login name)
  • HOME (the path name of your home directory)
  • HOST (the name of the computer you are using)
  • ARCH (the architecture of the computers processor)
  • DISPLAY (the name of the computer screen to display X windows)
  • PRINTER (the default printer to send print jobs)
  • PATH (the directories the shell should search to find a command)

ROS Terminology

  • Master (roscore) :
  • Nodes: Processes
  • Messages
  • Topics
  • Services
  • Names

In class tutorials

  • Nodes tf2