PROGRAMMING FOR ROBOTICS
ROS
Contents
• ROS publisher
• rqt User Interface
• TF Transformation System
• Robot models (URDF)
Robot Operating System
ROS C++ (Publisher)
#include <ros/ros.h>
• Create a publisher with help of the node handle #include <std_msgs/String.h>
int main(int argc, char **argv) {
ros::init(argc, argv, "talker");
ros::NodeHandle nh;
> ros::Publisher publisher = ros::Publisher chatterPublisher =
nodeHandle.advertise<message_type>(topic, nh.advertise<std_msgs::String>("chatter"
queue_size); , 1);
ros::Rate loopRate(10);
unsigned int count = 0;
while (ros::ok()) {
std_msgs::String message;
• Publish the contents with message.data = "hello world " +
std::to_string(count);
ROS_INFO_STREAM(message.data);
chatterPublisher.publish(message);
> publisher.publish(message); ros::spinOnce();
loopRate.sleep();
count++;
}
return 0;
}
http://wiki.ros.org/roscpp/Overview/Publishers%20and%20Subscribers
Robot Operating System
TF Transformation System
• Tool for keeping track of coordinate frames over time
• Maintains relationship between coordinate frames in
a tree structure buffered in time
• Lets the user transform points, vectors, etc. between
coordinate frames at desired time
• Implemented as publisher/subscriber model on the
topics /tf and /tf_static
http://wiki.ros.org/tf2
Robot Operating System
TF Transformation System
• TF listeners use a buffer to listen to all broadcasted
transforms
• Query for specific transforms from the transform
tree
tf2_msgs/TFMessage.msg
geometry_msgs/TransformStamped[] transforms
std_msgs/Header header
uint32 seqtime stamp
string frame_id
string child_frame_id
geometry_msgs/Transform transform
geometry_msgs/Vector3 translation
geometry_msgs/Quaternion rotation
Robot Operating System
TF Transformation System (Tools)
Command line View Frames RViz
Print information about the current Creates a visual graph (PDF) 3D visualization of the
transform tree of the transform tree transforms
> rosrun tf tf_monitor > rosrun tf tf_view_frames
Print information about the
transform between two frames
> rosrun tf tf_echo
source_frame target_frame
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TF Transformation System (Rviz Plugin)
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rqt User Interface
• User interface base on Qt
• Custom interfaces can be setup
• Lots of existing plugins exist
• Simple to write own plugins
Run qt with:
> rosrun rqt_gui rqt_gui
http://wiki.ros.org/rqt/Plugins
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rqt User Interface (rqt_image_view)
• Visualizing images
http://wiki.ros.org/rqt_image_view
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rqt User Interface (rqt_multiplot)
• Visualizing numeric values in 2D plots
http://wiki.ros.org/rqt_multiplot
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rqt User Interface (rqt_graph)
• Visualizing the ROS computation graph
http://wiki.ros.org/rqt_graph
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rqt User Interface (rqt_console)
• Displaying and filtering ROS messages
http://wiki.ros.org/rqt_console
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rqt User Interface (rqt_logger_level)
• Configuring the logger level of ROS nodes
http://wiki.ros.org/rqt_logger_level
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Robot Models Unified Robot Description Format (URDF)
• Defines an XML format for representing a robot
model
• Kinematic and dynamic description
• Visual representation
• Collision model
• URDF generation can be be scripted with XACRO
http://wiki.ros.org/urdf
http://wiki.ros.org/xacro
Robot Operating System
Robot Models Unified Robot Description Format (URDF)
• Description consists of a set of link elements and a set of joint
elements <link name="link_name">
<visual>
• Joints connect the links together
<geometry>
<mesh filename="mesh.dae"/>
<robot name="robot"> </geometry>
<link> ... </link> </visual>
<link> ... </link>
<link> ... </link>
<collision>
<geometry>
<joint> .... </joint>
<joint> .... </joint> <cylinder length="0.6"
<joint> .... </joint> radius="0.2"/>
</robot> </geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0.4" ixy="0.0" …/>
<joint name="joint_name" type="revolute"> </inertial>
<axis xyz="0 0 1"/> </link>
<limit effort="1000.0" upper="0.548" … />
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="parent_link_name"/>
<child link="child_link_name"/>
</joint> http://wiki.ros.org/urdf/XML/model
Robot Operating System
Further References
• Ros Wiki • ROS Cheat Sheet
• http://wiki.ros.org/ • https://github.com/ros/cheatsheet/r
• Installation eleases/dow
• http://wiki.ros.org/ROS/Installa nload/0.0.1/ROScheatsheet_catkin.
tion pdf
• Tutorials • ROS Best Practices
• http://wiki.ros.org/ROS/Tutoria • https://github.com/ethzasl/ros_best
ls _practices/wiki
• Available packages • ROS Package Template
• http://www.ros.org/browse/ • https://github.com/ethzasl/ros_best
_practices/tree/master/ros_packag
e_template
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Q&A
Robot Operating System
