ROC

_posts/Robotics/2024-11-26-Robotics-ROS.md

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+# ROS
+
+## Learning Objectives
+
+What is ROS?
+
+- Philosophy
+- Features
+- ROS Wiki
+- Structure
+
+
+
+Robotic Operating System
+
+-> Open Source Set of Libraries Let us Develop and Manage A Modular Framework
+
+
+
+## Philosophy:
+The development of a new robotic system relies on:
+- Modularity: using ready modules (sensors, actuators, etc.) instead of making everything from scratch.
+- Distributed computation: each module (software or hardware) may need an independent computational resource.
+- Robustness and Reliability: it is necessary to ensure all the modules work together consistently regardless of uncertainties or disturbances.
+- Scalability: adding new features, expanding the capability domain, and even making new products based on the current design led us to consider scalability in the development process.
+
+
+
+
+
+## Features:
+
+ROS:
+
+- Tools Based
+- Multi-Lingual
+- Community Base
+- Open Source Repositories
+- Peer-Peer Connection
+
+
+
+### Tools
+
+- Message Passing
+- Simulation
+- Real-Time Task Scheduling
+- Data Logging
+
+
+
+## ROS Document(Wiki)
+
+ROS Wiki:
+https://wiki.ros.org/Documentation
+ROS Robots:
+https://robots.ros.org/
+ROS2 Documents:
+https://docs.ros.org/en/foxy/index.html
+
+
+
+## ROS Main Concepts:
+
+Node
+
+- Single-purposed executable programs
+- Independently worked and managed
+- They are written using a ROS library
+
+
+
+Message
+
+- Data structure for communication between nodes
+
+
+
+Topics
+
+- A customised message dedicated to transferer data on the network
+- Nodes can subscribe/publish all the Topics on the network
+
+
+
+Service
+
+- Synchronous inter node transactions
+
+- (blocking RPC): ask for something and wait for it
+
+
+
+Action
+
+- standardized interface for interfacing with non-interrupting tasks
+
+
+
+Parameter Server
+
+- A shared dictionary that is accessible via network
+
+- Best used for static data such as configuration parameters
+
+
+
+Master
+
+- Provides connection information to nodes so that they can transmit messages to each other
+
+
+
+Packages
+
+- Software in ROS is organized into packages
+- A package contains one or more nodes, documentation, messages, services, …
+
+
+
+
+
+## ROS2 Ecosystem:
+- Visualisation Tools (RVIZ)
+- Simulation Tools (GAZEBO)
+- Available Cross-Platform libraries and community support
+
+
+
+## ROS Applications in robotics:
+- Algorithms:
+  autonomous navigation, manipulation, and swarm robotics.
+
+- Real-world use cases:
+  delivery robots, drones, and healthcare robots
+
+- Advanced use cases in real-time systems (ROS2)
+- Industrial applications:
+  self-driving cars, precision agriculture, and collaborative robots
+
+
+
+## ROS2 and its advantages:
+
+- Decentralised Architecture
+- Real-TimeSupport
+- Data Distribution Service
+- Cross-PlatformCompatibility
+- Enhanced Security
+- Modular and Scalable Design
+- Improved Tooling
+- Support for Multi-Domain Applications
+
+
+
+## ROS/ROS2 and AI Integration:
+➢ Tools and frameworks for AI integration into robotic systems for tasks like perception, decision-making, and learning
+
+- Perception and Computer Vision
+- Navigation and Decision-Making
+- Machine Learning in Robotics
+- AI-Powered Data Processing
+- Simulation for AI Training
+- real-time AI processing for embedded processors 
+- supports NLP frameworks such as Google Dialogflow
+
+
+
+## Summary
+
+- Introduction to ROS
+- Main ROS concept
+- ROS2 features and advantages over ROS