Basics of “ROS” and application to system development using ROS2 programming

What is ROS?

The Robot Operating System, or ROS, is an open-source framework that supports the creation and operation of robots.
Despite its name, it isn’t just an operating system but a set of tools, libraries, and conventions that aim to simplify the intricate task of building complex robot software.
Originally developed by the Stanford Artificial Intelligence Laboratory in 2007, ROS has evolved into a widely used platform by roboticists worldwide.

At its core, ROS provides the services expected from an operating system, including hardware abstraction, low-level device controls, implementation of commonly-used functionality, message-passing between processes, and package management.
Moreover, it offers tools and libraries for obtaining, building, writing, and running code across multiple computers.
These features make it easier for developers to focus on their specific areas of expertise, while others handle different parts of the system’s functions.

Why Use ROS?

ROS fosters collaboration and sharing among the global community of developers.
Its open-source nature means users can freely use, modify, and distribute their versions of ROS.
This sharing fosters innovation and improvement of robotic solutions across industries.

There is a robust package and tool ecosystem within ROS.
Developers can access pre-built and thoroughly tested code for common tasks, thereby reducing development time and effort.
Through its package manager, developers can easily incorporate new packages into their system with minimal configuration.

Additionally, the modularity of ROS allows developers to break down complex systems into smaller, manageable nodes.
This modular approach facilitates easier development, testing, and modification of each part without affecting the entire system.

Understanding ROS2

ROS2 is the successor to the original ROS and addresses many limitations present in its predecessor.
Released to ensure real-time performance and support for multiple platforms, ROS2 brings enhancements over ROS1, making it suitable for production use in industrial environments.

The most significant improvement in ROS2 is its use of the Data Distribution Service (DDS) as its communication standard.
This change supports improved real-time capabilities and communication reliability, vital in precise applications like autonomous driving and advanced manufacturing.

Moreover, ROS2 provides better support for multi-robot systems, improved security measures, and compatibility with modern operating systems and middleware technologies.
It also provides a more consistent experience across platforms with support for both Windows and Linux, expanding the possibilities for cross-platform development.

Application of ROS2 in System Development

ROS2 is revolutionizing the field of robotics and system development through its advanced features and flexible architecture.
It is trusted by researchers and companies for developing various robotic applications, from autonomous drones to industrial automation systems.

Autonomous Vehicles

Autonomous vehicles demand precise control and real-time data processing to function efficiently and safely.
ROS2’s enhanced real-time processing and communication capabilities make it suitable for developing complex navigation, control, and perception systems in self-driving cars and drones.

The modularity of ROS2 allows developers to implement separate perception, planning, and control modules, simplifying testing and optimization processes.

Industrial Automation

In manufacturing and other industrial settings, there is a need for enhanced automation and precision.
ROS2 provides a robust platform to develop robotic arms, conveyor belts, and automated guided vehicles (AGVs).
Its interoperability with industrial protocols and improved real-time operations make it an excellent choice for tasks requiring high precision and reliability.

Healthcare Robots

Healthcare robots, such as surgical assistants or rehabilitation devices, require careful integration of hardware, precise control, and safe operation.
ROS2’s ability to handle complex systems and support real-time communication makes it an ideal platform for healthcare robotic systems, ensuring patient safety and operational efficiency.

Research and Education

ROS2 is widely utilized in research and education due to its open-source nature and extensive community support.
It allows students and researchers to explore robotics concepts without the need for proprietary software or expensive hardware.
ROS2’s documentation and resources facilitate learning and experimentation in university labs and research institutions.

Getting Started with ROS2 Programming

Embarking on a journey with ROS2 programming involves setting up the development environment and understanding its architecture.
Here’s a simplified guide to kickstart your ROS2 experience:

Setting Up the Environment

The first step in ROS2 development is installing the software on your computer.
ROS2 supports installation on major operating systems like Linux and Windows.
For beginners, Ubuntu is often recommended due to its comprehensive support and community resources.

Once installed, familiarize yourself with the ROS2 command-line interface (CLI), which will be instrumental in managing packages, running nodes, and troubleshooting.

Understanding the Basics

Before diving into complex projects, grasp the fundamental concepts of ROS2.
Learn about Nodes, Topics, Messages, Services, and Actions, which form the core communication paradigms in ROS2.

Practice creating simple nodes that publish and subscribe to topics, enabling basic message exchanges between components.

Exploring the Ecosystem

Leverage the rich ecosystem of packages available in ROS2 to accelerate development.
Explore packages relevant to your project, whether for computer vision, navigation, or machine learning.

Integrate these packages into your workspace to enable advanced functionalities without reinventing the wheel.

Engaging with the Community

The ROS community hosts a wealth of knowledge and expertise.
Engage with forums, discussion boards, and documentation to resolve questions and learn from others’ experiences.
Participating in community challenges and hackathons can also provide practical experience and expand your network.

Conclusion

ROS and ROS2 represent powerful tools in the arsenal of modern robotics and system development.
By providing a standardized framework and fostering collaboration, these platforms accelerate innovation, ensuring that advanced robotic solutions are accessible and effective.

Whether developing autonomous vehicles, automating industrial processes, or creating healthcare robots, ROS2’s improved features make it an appealing choice for professionals and enthusiasts alike.
Embarking on a path to mastering ROS2 programming will undoubtedly open doors to creating sophisticated and efficient robotic applications.