THIS IS JUST AN OUTLINE FOR A WORK IN PROGRESS

Overview

• What is ROS
  • Design (peer-to-peer distributed, favors greater computation power over multiple computers)
  • Comparisons to other frameworks
  • Important of BSD + Open Source
  • Compatibility with other frameworks
  • Not Realtime
• Client libraries
  • roscpp
  • rospy
  • Experimental client libraries
    • roslisp
    • rosoct
    • rosjava
• Three levels of ROS: filesystem, computation graph, community
• Filesystem Level
  • Packages
    • Packages have dependencies Types of dependencies: dependencies on Packages, dependencies on thirdparty (rosdep).
    • Manifests
    • Tools
      • rospack
      • roscreate-pkg
      • roscd
  • Stacks
  • Message definitions
    • versioning
  • Service definitions
    • versioning
  • Build System
    • Based on CMake
      • CMake macros
      • Exporting cmake macros
    • Tools
      • make vs. rosmake
• Computation Graph Level
  • Nodes
    • Tools
      • rosnode
    • client libraries
      • rospy.init_node()
      • roscpp node handle
  • Services
    • Tools
      • rosservice
    • client libraries

      • rospy.ServiceProxy

        • roscpp Service
  • Topics
    • Transports
      • TCPROS
      • UDPROS
    • Tools
      • rostopic
      • rxplot
    • client libraries
      • pub/sub examples in both
      • UDP Example with roscpp
      • No UDP example with rospy
  • Bags
    • Tools
      • rosrecord
      • rosplay
    • Client libraries
      • rosrecord.py
  • The Graph
    • The ROS Core
      • Master
      • Parameter Server
        • rosparam
      • rosout
        • rxconsole
        • log files
    • roslaunch
    • run_id
• Community Level
  • Repository
    • Repos
      • ROS
      • ros-pkg
      • wg-ros-pkg
    • Tools
      • roslocate
  • Mailing lists
  • ROS Wiki
  • Bug tracker
  • Blog

Using ROS

• Getting comfortable with the command line
  • roscreate-pkg foo

  • create MyMsg.msg

  • edit CMakeLists.txt file
  • run rosmake, as well as make
  • run roscore

  • run rxgraph &

  • run rostopic list
  • run rostopic pub my_topic foo/MyMsg 1 -r 10
  • run rostopic list
  • run rostopic hz foo/MyMsg
  • run rostopic echo foo/MyMsg
  • run rostopic pub my_topic2 foo/MyMsg 10 -r 10
  • run rostopic list
  • run rxplot my_topic my_topic2
  • run rosrecord my_topic
  • run rostopic echo -b bag
  • run rosplay bag
  • roswtf?
• Writing Nodes
  • Simple talker/listener
    • roscpp example
    • rospy example
      • Advanced initialization of message args (just args, keywords args, etc...)
    • rosnode ping
    • rosnode info
  • Passing in extra data to your listener (listener with user data tutorial)
  • Wrap up your nodes in roslaunch
    • Create talker/listener launch file
      • rosnode list
    • Pass in parameter
      • rosparam list
    • Pass in lots of parameters
      • rosparam list
      • rosparam dump?
  • Services
    • Edit talker to provide a service
    • Edit listener to call a service

Intermediate topics

• Listener callbacks
• Throttling
• Muxing
• rosmake a launch file
• rebagging

Advanced Topics

• Connection headers
• Message synchronization?
• Persistent service connections
  • Better performance, but less robust to changes in computation graph
• Migrating messages
• Dynamic subscription in rospy