Programming for Robotics

Part of

← Software Engineering

Robot Operating System (ROS)

Introduction

• C++, Python, MATLAB, JAVA

• Wrapper around non-ROS code

• Master + Worker Nodes

• Run a node

> rosrun package_name node_name

• ROS Topics

I. Plumbing

Process Management

Inter-process Communication

Device Drivers

II. Tools

Simulation

Visualization

Graphical User Interface

Data Logging

III. Capabilities

Control

Planning

Mapping

Manipulation

IV. Ecosystem

Package Organization

Software Distribution

Documentation

Tutorials