Robot Operating

System
Riadh Hajri

What is and Why

ROS?
202
ROBOT OPERATING SYSTEM (ROS)
COURSE

Learning
Outcome
▸ Understand ROS Ecosystem (topics, nodes, messages,
services, actionlib)

▸ Develop simple applications to control robot motion

▸ Understand how a position and orientation are

represented in ROS

▸ Recognize how to develop a C++/Python ROS project

▸ Develop simple computer vision programs with ROS

and OpenCV
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ROBOT OPERATING SYSTEM (ROS)
COURSE

Problem(s) In Robotics, before ROS

• Lack of standards
• Little code reusability
• Keeping reinventing (or rewriting) device
drivers, access to robot’s interfaces,
management of on- board processes,
inter-process communication protocols, …
• Keeping re-coding standard algorithms
• New robot in the lab (or in the factory) 
start re-coding (mostly) from scratch

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ROBOT OPERATING SYSTEM (ROS)
COURSE

WHAT IS ROS?
 ROS is an open-source robot operating system

 A set of software libraries and tools that help you build robot
applications that work across a wide variety of robotic
platforms

 Originally developed in 2007 at the Stanford Artificial

Intelligence Laboratory and development continued at Willow
Garage

 Since 2013 managed by OSRF (Open Source

Robotics Foundation)

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ROBOT OPERATING SYSTEM (ROS)
COURSE

WHY ROS?
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ROBOT OPERATING SYSTEM (ROS)
COURSE

Robot Path
Planning
2010

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Robot
Navigation
2010

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Flying a
Drone

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Robot Process Cycle

Sense TThink
HINK AC
Act
T

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Sense
CAMERA

LASER

ULTRASOUND

SENSE
GPS

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Thin
ARTIFICIAL
k INTELLIGENCE

MACHINE LEARNING

Think
SIGNAL PROCESSING

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Act
BRUSHLESS MOTORS

UAV MOTORS

ACTUATORS

Act
SERVO

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Self-Driving Car

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ROBOT OPERATING SYSTEM (ROS)
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ROS Impact

2M Page View per Month

120000 new users per month

SOURCE [Link]

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ROBOT OPERATING SYSTEM (ROS)
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ROS Impact

SOURCE: [Link]

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ROBOT OPERATING SYSTEM (ROS)
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ROS MAIN FEATURES

ROS has two "sides"

 The operating system side, which provides
standard operating system services such as:
o hardware abstraction
o low-level device control
o implementation of commonly used
functionality
o message-passing between processes
o package management
 A suite of user contributed packages that
implement common robot functionality such as
SLAM, planning, perception, vision,
Riadh manipulation, etc.
ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS MAIN FEATURES

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 ROBOT OPERATING SYSTEM (ROS) ROS PHILOSOPHY
COURSE
 Peer to Peer
o ROS systems consist of many small programs (nodes)
which connect to each other and continuously exchange
messages
 Tools-based
o There are many small, generic programs that perform tasks such
as visualization, logging, plotting data streams, etc.
 Multi-Lingual
o ROS software modules can be written in any language for which a
client library has been written. Currently client libraries exist for C++,
Python, LISP, Java, JavaScript, MATLAB, Ruby, and more.
 Thin
o The ROS conventions encourage contributors to create stand-
alone libraries/packages and then wrap those libraries so they send
and receive messages to/from other ROS modules.
 Free & open source, community-based, repositories
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 ROS WIKI
 [Link]
rg/

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 SOME ROBOTS USING ROS ( > 125)

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 ROS CORE CONCEPTS

 Nodes
 Messages and
Topics
 Services
 Actions
 ROS Master
 Parameters
 Packages and
Stacks

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 ROS NODES

 Single-purposed executable programs

oe.g. sensor driver(s), actuator
driver(s), map building, planner,
UI, etc.
 Individually compiled, executed, and
managed
 Nodes are written using a ROS client
library
o roscpp – C++ client library
o rospy – python client library
 Nodes can publish or subscribe to a
Topic
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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS Publisher/Subscriber

Reference Book: ROS Robot Programming (in English).

Authors: Yoonseok Pyo, Hancheol Cho, Leon Jung,
Darby Lim

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS Services

Reference Book: ROS Robot Programming (in English).

Authors: Yoonseok Pyo, Hancheol Cho, Leon Jung,
Darby Lim

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS
ActionLib

Reference Book: ROS Robot Programming (in English).

Authors: Yoonseok Pyo, Hancheol Cho, Leon Jung,
Darby Lim

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Development
Environment

▸ ROS Melodic on Ubuntu 22.04 (VM or Physical

Machine)

▸ Laptop recommended requirements

▸ 8 GB of RAM

▸ SSD Hard drive

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ROBOT OPERATING SYSTEM (ROS)
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WHAT IS ROS?
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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS (1) Evolution

- May 23, 2018 - ROS Melodic
■ %FD , - 3FMFBTF PG 304 .
■ 4FQ , - 304$PO ($BOBEB)
■ MBZ , - 3FMFBTF PG LVOBS LPHHFSI F BE
■ MBZ , - $ I B OHFE OBNF GSP N 043F UP 0QFO 3PCPUJDT
■ 0DU ,  - 304$PO (4PVUI KPSFB)
■ MBZ , - 3FMFBTF PG KJOFUJD KBNF
■ 0DU ,  - 304$PO ((FSNB OZ) F * ( 6 3 & 2-7 3 0 4
7FSTJPOT(IUUQ://[Link]/)
■ MBZ , - 3FMFBTF PG +BEF 5VSUMF
■ 4FQ , - 304$PO $POGFSFODF (6.4.)

■ +VM , - 3FMFBTF PG *OEJHP *HMPP

■ +VO ,  - 304 KPOH  $POGFSFODF ( ) POH KPOH)

■ 4FQ ,  - 3FMFBTF PG ) ZESP MFEVTB
F * ( 6 3 & 2-8 5VSUMF JDPOT GPS FBDI WFSTJPO
■ MBZ , - 304$PO $POGFSFODF ((FSNB OZ) PG 3 0 4
■ FFC ,  - 0QFO 4PVSDF 3PCPUJDT FPVOEBUJPO UBLFT PO EFWFMPQNFOU/NBOBHFNFOU
■ %FD ,  - 3FMFBTF PG (SPPWZ (BMBQBHPT
■ MBZ , - 304$PO $POGFSFODF (6.4.)
■ AQS , - 3FMFBTF PG FVFSUF
■ AVH , - 3FMFBTF PG &MFDUSJD &NZT
■ MBS ,  - 3FMFBTF PG %JBNPOECBDL
■ AVH ,  - 3FMFBTF PG $ 5VSUMF
■ MBS ,  - 3FMFBTF PG BPY 5VSUMF

■ +BO , - 3FMFBTF PG 304 .

■ /PW ,  - 8JMMPX (BSBHF TUBSUT EFWFMPQNFOU VOEFS UIF OBNF ˎ304ˏ
■ MBZ ,  - 4XJUDIZBSE 1SPjFDU, MPSHBO 2VJHMFZ, 4UBOGPSE A* LAB, 4UBOGPSE
6OJWFSTJUZ
■  - 1MBZFS/4UBHF 1SPjFDU, BSJBO (FSLFZ, 6OJWFSTJUZ PG 4PVUIFSO $BMJGPSOJB (64$)
F * ( 6 3 & 2-9 3 FDFOU 3 0 4 WFSTJPOT BOE FOE PG TVQQPSU EBUF
Reference Book: ROS Robot Programming (in English). Authors: Yoonseok Pyo, Hancheol Cho, Leon Jung, Darby Lim

Riadh
ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS (1) Evolution

- May 23, 2018 - ROS Melodic
■ %FD , - 3FMFBTF PG 304 .
■ 4FQ , - 304$PO ($BOBEB)
■ MBZ , - 3FMFBTF PG LVOBS LPHHFSI F BE
■ MBZ , - $ I B OHFE OBNF GSP N 043F UP 0QFO 3PCPUJDT
■ 0DU ,  - 304$PO (4PVUI KPSFB)
■ MBZ , - 3FMFBTF PG KJOFUJD KBNF
■ 0DU ,  - 304$PO ((FSNB OZ) F * ( 6 3 & 2-7 3 0 4
7FSTJPOT(IUUQ://[Link]/)
■ MBZ , - 3FMFBTF PG +BEF 5VSUMF
■ 4FQ , - 304$PO $POGFSFODF (6.4.)

■ +VM , - 3FMFBTF PG *OEJHP *HMPP

■ +VO ,  - 304 KPOH  $POGFSFODF ( ) POH KPOH)

■ 4FQ ,  - 3FMFBTF PG ) ZESP MFEVTB
F * ( 6 3 & 2-8 5VSUMF JDPOT GPS FBDI WFSTJPO
■ MBZ , - 304$PO $POGFSFODF ((FSNB OZ) PG 3 0 4
■ FFC ,  - 0QFO 4PVSDF 3PCPUJDT FPVOEBUJPO UBLFT PO EFWFMPQNFOU/NBOBHFNFOU
■ %FD ,  - 3FMFBTF PG (SPPWZ (BMBQBHPT
■ MBZ , - 304$PO $POGFSFODF (6.4.)
■ AQS , - 3FMFBTF PG FVFSUF
■ AVH , - 3FMFBTF PG &MFDUSJD &NZT
■ MBS ,  - 3FMFBTF PG %JBNPOECBDL
■ AVH ,  - 3FMFBTF PG $ 5VSUMF
■ MBS ,  - 3FMFBTF PG BPY 5VSUMF

■ +BO , - 3FMFBTF PG 304 .

■ /PW ,  - 8JMMPX (BSBHF TUBSUT EFWFMPQNFOU VOEFS UIF OBNF ˎ304ˏ
■ MBZ ,  - 4XJUDIZBSE 1SPjFDU, MPSHBO 2VJHMFZ, 4UBOGPSE A* LAB, 4UBOGPSE
6OJWFSTJUZ
■  - 1MBZFS/4UBHF 1SPjFDU, BSJBO (FSLFZ, 6OJWFSTJUZ PG 4PVUIFSO $BMJGPSOJB (64$)
F * ( 6 3 & 2-9 3 FDFOU 3 0 4 WFSTJPOT BOE FOE PG TVQQPSU EBUF
Reference Book: ROS Robot Programming (in English). Authors: Yoonseok Pyo, Hancheol Cho, Leon Jung, Darby Lim

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS Distribution over

ROS 2.0
Time
ROS

ROS2
ROS
SOURCE: [Link]

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS
Archiecture
Node Node
1 2

ROS
Maste
r

Client
Libraries
(rospy,
roscpp)
TCPROS/UDPROS

Linux

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS
Concepts

Reference Book: ROS Robot Programming (in English).

Authors: Yoonseok Pyo, Hancheol Cho, Leon Jung,
Darby Lim

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS
Concepts

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Path
Planning
Global Path Planner

Local Path Planner

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ROBOT OPERATING SYSTEM (ROS)
COURSE

LIMITATIONS OF ROS
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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS
Limitations
!

Not Real-Time Need Reliable Network

Single Robot Single Point of Failure

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS v ROS 2.0

s
Node Node
1 2

Node 1 Node 2 Node

ROS 3
Maste
r
Client
Client
Libraries
Libraries
(rclpy, rclcpp)
(rospy, Abstract DDS
roscpp)
TCPROS/UDPROS
DDS Intra-Process API

Linu Linux/Windows/Mac-OS
x

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS2 Use Cross-Platform

Cases

Fast Prototyping
Robotics Swarm QoS and Real-Time to Production

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ROBOT OPERATING SYSTEM (ROS)
COURSE

What Middleware to
Choose?
Two options

Build new middleware

Improve ROS 1.x Transport
based on existing
solutions

Protoco
ZeroM
l
Q
Buffers

DD
ZeroCon
S
f

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Data Distribution
Service
▸ An industry-standard communication
system “The DCPS model described in this
chapter extends the publish-subscribe
model to address the specific needs
of real-time, data-critical
▸ Designed by Object Management Group applications.”

▸ Real-time
▸ machine-to-machine
Data-Centric (middleware)
Publish Subscribe (DCPS) communication
system
▸ Uses publish-subscribe pattern

▸ Used in: financial trading, air-traffic control, smart grid

management, big data and IoT applications

▸ Started in 2001 with two vendors: RTI in the US and Thales

group in France
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ROBOT OPERATING SYSTEM (ROS)
COURSE

Data Distribution
Service

[Link]

watch?v=u-saogMmKOo

2011
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ROBOT OPERATING SYSTEM (ROS) COURSE

Why DDS? Messag

Discovery
▸ DDS is a networking
e
▸ ROS2 maintains the same
▸ DDS replaces the ROS
middleware message definitions as in
master discovery ROS1
▸ Simplifies complex system
Implements
▸ network a publish–
programming ▸ ROS 1.x .msg files are
subscribe pattern for
sending and receiving data, ▸ DDS API provides converted into .idl files
to be used by DDS
events, and commands information on
among the nodes. transport layer
nodes topics,
▸ Similar to ROS, (publishers)
services, etc. ▸ Experiments show that cost
create "topics" (e.g., of message conversion is
temperature, location, non significant as
▸ Users are prevented
pressure) and publish compared to cost of
“samples"
from direct access to serialization.
DDS (hidden behind
▸ DDS allows the user to ROS APIs)
specify quality of service
(QoS) parameters (QoS
Profiles in ROS2) ▸ Fully distributed
Riadh discovery process
(no single point of
ROBOT OPERATING SYSTEM (ROS)
COURSE

No Vendor Lock
There is currently support for eProsima FastRTPS,
ADLINK’s OpenSplice, RTI’s Connext DDS and
CycloneDDS.

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROS2 Distribution/Learning ROS 2

loquent Elusor
Nov 22nd, 2019 Foxy Fitzroy
June 5th, 2020

Dashing Diademata
May 31st, 2019

Crystal Clemmys [Link]

December 14th, 2018

Bouncy Bolson
July 2nd, 2018

Ardent Apalone
December 8th, 2017

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Using ROS in
Education

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Using ROS in
Education

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Using ROS in
Education

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Using ROS in
Education

[Link]

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ROBOT OPERATING SYSTEM (ROS)
COURSE

COROS: Multi-Robot Collaboration

Architecture Global and local interactions COROS components

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Range Limitation of
WLAN

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Moving ROS to the

Cloud

Robot
dron
e
Clou
d

Leverage the use of cloud computing

Riadh and IoT
ROBOT OPERATING SYSTEM (ROS)
COURSE

The Single Robot

Problem
ROS
Master

ROS
Master

ROS
Master

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Scalability issue with ROS

Master
ROS
Master

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ROBOT OPERATING SYSTEM (ROS)
COURSE
ROSLink
ROSLink Bridge
ArchiectureROSLink ROS
ROSLink
Master
Message
Message

ROSLink
ROSLink
ROSLink ROSLink Bridge
Message
Cloud Message ROS
Proxy Master

ROSLink
ROSLink
ROSLink Bridge
Message
Message ROS
Master

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ROBOT OPERATING SYSTEM (ROS)
COURSE

ROSLink

ROSLin
k
Cloud

ROSLin ROSLin ROSLin

k k k
Client Proxy Bridge
Contro
ROSLin
l, ROS
k
Monito
Cloud driver
r App s
Robot
HW

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Controlling a drone over the

Internet

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ROBOT OPERATING SYSTEM (ROS)
COURSE

5G Robot Teleop using ROS

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Platooning using
ROS

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Learning ROS BASICS

Path

MOTION WITH
ROS

PERCEPTIO
PERCEPTION I: N I:
OPENCV LASERSCA
NNER

ROSSERIAL
ARDUINO

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Learning ROS
Path TRANSFORMATION
S

REACTIVE
NAVIGATION

MAP-BASED
NAVIGATION

AERIAL
ROBOTS

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ROBOT OPERATING SYSTEM (ROS)
COURSE

Learning
Path

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ROBOT OPERATING SYSTEM (ROS)
COURSE

LEARNING OUTCOMES
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[Link]