Curso Básico de ROS

ROS - Session 1
ROS Workshop at the

School of Engineering, UNAM
Viktor Seib
vseib@uni-koblenz.de
Institute for Computational Visualistics
University of Koblenz-Landau
August 10th, 2015
V. Seib ROS - Session 1
Slide 1
About me
Diploma in Computer Sciences in

Koblenz (2010)
since 2011: Research assistant in

the Active Vision Group, supervised
by Prof. Dr.-Inf. Dietrich Paulus
Research topics: Affordance

detection, 2D/3D object recognition
for service robots
Team Leader of team

homer@UniKoblnez since 2012
1st place in RoboCup@Home 2015!
Viktor Seib
Slide 2
About Koblenz
located at the confluence of

the rivers Rhine and Mosel
about 109,000 inhabitants
university with 7,000

students (1,500 in
computer sciences)
Koblenz
Slide 3
Agenda
Slide 4
Introduction
ROS Filesystem and Catkin
Nodes
Topics and Messages
Services
Parameter Server
Summary
Slide 5
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Slide 6
Introduction
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Summary
ROS (Robot Operating System)
ROS is an open-source middleware for robots.

it provides implementation of commonly-used functionality,
message-passing between processes, and package management.1

all ROS core code is licensed BSD easy to integrate in your project
maintained by the Open Source Robotics Foundation, supported by
Willow Garage
many device drivers and algorithms are available
http://www.ros.org (where the following material is taken from)
Slide 7
Introduction
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Goals
ROS is a distributed framework of processes (aka

Nodes)
enables executables to be individually designed and

loosely coupled at runtime
supports code reuse in robotics research and development
Language independence: Python and C++ (and others)
Scaling: ROS is appropriate for large runtime systems and

for large development processes
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Highlights
Enables separate communities to exchange software and
knowledge. Resources:
Distributions: ROS Distributions are collections of

versioned packages that you can install (comparable to
Linux distributions)
Repositories: Different institutions can develop and

release their own robot software components
The ROS Wiki: The ROS community Wiki is the main

forum for documenting information about ROS (where
most of this information comes from!)
Mailing Lists: ros-users mailing list
Blog: http://planet.ros.org/
Slide 9
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Highlights
ROS is a common platform with worldwide acceptance:

14 of 17 teams in this years RoboCup@Home use ROS
RoCKIn@Home competition assumes ROS as default middleware
ROS website2 lists instructions to install ROS on 74 different robots
Current releases:
newest: Jade Turtle (supported till May 2017)
long term support: Indigo Igloo (supported till April 2019) (used here)
http://wiki.ros.org/Robots
Slide 10
Introduction
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Concepts
ROS has two important levels of concepts:
Filesystem level: ROS resources on disk
Computation Graph level: peer-to-peer network of ROS

processes during runtime
Slide 11
Introduction
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Concepts: Filesystem level

ROS resources that you encounter on disk
Workspace: A catkin workspace contains your ROS packages
Packages: Main unit for organizing software in ROS, e.g. ROS runtime
processes (nodes), ROS-dependent libraries, datasets, configuration

files
Manifests: Package manifests (package.xml) provide metadata
about a package (e.g. dependencies, compiler flags).

Message (msg) types: Message descriptions, define the data
structures for messages sent in ROS.

Service (srv) types: Service descriptions, define the request and
response data structures for services in ROS.

Action (action) types: Action descriptions, define advanced request
and response data structures for the actionlib in ROS.
Slide 12
Introduction
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Concepts: Computation Graph Level

Computation Graph: Peer-to-peer network of ROS processes
that are processing data together.
The basic computation graph components of ROS are:
master
parameter server
nodes
messages
topics
services
bags
Slide 13
Introduction
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Summary
Introduction
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Slide 14
Introduction
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ROS Tutorial
ROS: http://www.ros.org/wiki/ROS/Tutorials
Catkin: http://www.ros.org/wiki/catkin
Also see: ROS Cheat Sheet
Slide 15
Introduction
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Installation
Preferred platform: Ubuntu (and other UNIX based OS)
For installation see

www.ros.org/wiki/indigo/Installation/Ubuntu
Examples given for Ubuntu 14.04:
Setup your sources.list file (ROS server)

$ sudo sh -c echo "deb http://packages.ros.org/ros/ubuntu
$(lsb_release -sc) main" >
/etc/apt/sources.list.d/ros-latest.list
Set up your keys
$ sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net
--recv-key 0xB01FA116
Slide 16
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Setup
Update your package list and install ROS:
$ sudo apt-get update
$ sudo apt-get install

ros-indigo-desktop-full
Initialize rosdep before using ROS
rosdep is a tool to manage system dependencies

$ sudo rosdep init
$ rosdep update
Slide 17
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Setup
Environment setup (add to /.bashrc):

$ source /opt/ros/indigo/setup.bash
simply type:
$ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
Optionally: select an editor (add to /.bashrc):

$ export EDITOR=gedit
Get rosinstall (convenient tool to download many

source trees for ROS packages):
$ sudo apt-get install python-rosinstall
Slide 18
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Catkin3
catkin is the official build system of ROS and the

successor to rosbuild (used until ROS fuerte)
catkin extends CMake to manage dependencies between

packages
catkin adds support for automatic find package

infrastructure and building multiple projects at the same
time
To start developing with ROS we first need a catkin

workspace
see http://www.ros.org/wiki/catkin
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Prepare Catkin Workspace
Prerequisites: catkin installed and environment sourced:

$ source /opt/ros/indigo/setup.sh
Create a catkin workspace:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
Slide 20
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Prepare Catkin Workspace
We have an empty workspace with a CMakeLists.txt link

Build the workspace:
$ cd ~/catkin_ws/
$ catkin_make
Source the new setup:
$ source devel/setup.bash
for convenience, add it to your .bashrc:
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

also add your workspace to the $ROS_PACKAGE_PATH:
$ echo "export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:

~/catkin_ws" >> ~/.bashrc
Slide 21
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Building Packages in a catkin Workspace

When calling catkin_make
source files, scripts or any other static files will remain in

the source space
any generated files such as libraries, executables, or

generated code will be placed in the devel space
in the devel space also setup.*sh files will be generated
you should source them to include your workspace in the

environment
Also take a look at http://www.ros.org/wiki/catkin/Tutorials/

workspace_overlaying for advanced uses of a workspace.
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Catkin Workspace
A typical catkin workspace looks like this:
workspace_folder/
-- WORKSPACE
src/
-- SOURCE SPACE
# this is where your packages (source code) will be
build/
-- BUILD SPACE
# this will contain CMake and catkin cache files etc.
devel/
-- DEVELOPMENT SPACE
# this will contain generated files such as
# libraries and executables
Unofficial rule of thumb:
if you get strange errors that you can not resolve otherwise:
delete the build space and rebuild your workspace
Slide 23
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Creating a Package
Please remember the filesystem concepts:
Workspace: A catkin workspace contains your ROS

packages
Packages: Main unit for organizing software in ROS, e.g.

ROS runtime processes (nodes), ROS-dependent libraries,
datasets, configuration files
Manifests: Package manifests (package.xml) provide

metadata about a package (e.g. dependencies, compiler
flags).
Slide 24
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Creating a Package
ROS code is organized in packages
To start developing with ROS we need a package within

our catkin workspace
The simplest possible package might look like this:

my_package/
CMakeLists.txt
package.xml
Slide 25
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Creating a Package
Requirements for valid catkin packages:
the package must contain a catkin compliant package.xml

file that provides meta information about the package
the package must contain a CMakeLists.txt which uses

catkin
there can be no more than one package in each folder (no

nested packages, no multiple packages in the same
directory)
Slide 26
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Creating a Package
catkin_create_pkg: creates a new ROS package
Usage: catkin_create_pkg <package_name>
Dependencies to other packages:

catkin_create_pkg <package_name> [depend1]
[depend2] ...
Files in a fresh package:
package.xml
CMakeLists.txt
Slide 27
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Creating a ROS Package

Try it!
change to folder:
cd ~/catkin_ws/src
Create package (all in one line):

$ catkin_create_pkg beginner_tutorials
std_msgs rospy roscpp
Slide 28
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Customizing your Package
Customize the auto-generated file package.xml:
description tag: change the description to anything you like

the first sentence should be short and cover the scope of
the package
maintainer tags: lets others know who to contact about the

package
license tag: choose a license and fill it in here
Slide 29
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Customize the auto-generated file package.xml:
dependencies tags: dependencies of your package
dependencies are split into build_depend,

buildtool_depend, run_depend, test_depend
all listed dependencies when creating the package have

been added as build_depend
in this case we want all of them to be also available at run

time, we add:
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
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The final package.xml (comments removed):
<package>
<name>beginner_tutorials</name>
<version>0.1.0</version>
<description>The beginner_tutorials package</description>
<maintainer email="you@yourdomain.tld">Your Name</maintainer>
<license>BSD</license>
<url type="website">http://wiki.ros.org/beginner_tutorials</url>
<author email="you@yourdomain.tld">Jane Doe</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
</package>
Slide 31
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catkin_make is a command line tool which adds some

convenience to the standard CMake workflow
usage in a catkin workspace:

$ catkin_make [make_targets] [-DCMAKE_VARIABLES=...]
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catkin_make is equivalent to the following in a CMake

project:
$
$
$
$
mkdir build
cd build
cmake ..
make
this needs to be done for each CMake project
Slide 33
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in contrast catkin projects can be built together in workspaces

building zero to many catkin packages in a workspace follows this work
flow:
# In a catkin workspace
$ catkin_make
catkin_make will build any catkin projects found in the src folder
For more advanced uses of catkin_make see:
http://www.ros.org/wiki/catkin/commands/catkin_make
Slide 34
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Typical workflow in a catkin package:

$ cd ~/catkin_ws/src/beginner_tutorials/src
Add/Edit source files
$ cd ~/catkin_ws/src/beginner_tutorials
Update CMakeFiles.txt to reflect any changes to your sources
$ cd ~/catkin_ws
$ catkin_make
Slide 35
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Navigating the ROS Filesystem
For ROS there is lots of code spread across many packages
tools for easier file system navigation provided
will only search/find (sub)directories of your

ROS_PACKAGE_PATH environment variable
View your ROS_PACKAGE_PATH:

$ echo $ROS_PACKAGE_PATH
Slide 36
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Note:
For catkin, the most important environment variable is the

CMAKE_PREFIX_PATH
helps CMake find other CMake projects
Catkin packages are a special case of a CMake project,

hence the need for this variable
When a catkin setup file is sourced, this variable gets

appended with the corresponding package path
In a sense, the CMAKE_PREFIX_PATH essentially has the

same role as ROS_PACKAGE_PATH
Slide 37
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Filesystem Tools:
rospack: A tool to inspect packages
try rospack help to see more options
rospack list: List all packages

rospack find: Get information about packages
try $ rospack find roscpp
Slide 38
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Filesystem Tools:
roscd allows you to change directory directly to a package
roscd roscpp
roscd roscpp/msg
ROS commands provide Tab-completition
roscd roscpp_tut TAB key

roscd tur TAB key
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Inspecting the new ROS Package
Make sure new directories are found:

$ rospack profile
try it out: rospack find beginner_tutorials
try it out: roscd beginner_tutorials
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ROS Package Dependencies
with catkin_create_pkg a few package dependencies

were provided
these first-order dependencies can be reviewed with the

rospack tool
rospack depends1 [package] shows the first-order

dependencies of the package
Try it!
$ rospack depends1 beginner_tutorials
std_msgs
rospy
roscpp
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these dependencies for a package are stored in the

package.xml file
in many cases, a dependency will also have its own

dependencies
rospack can recursively determine all nested

dependencies
$ rospack depends beginner_tutorials
find out which packages depend on another package:

$ rospack depends-on beginner_tutorials
the output of this command should be empty
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What to do if system dependencies are missing?
rosdep: Resolve system dependencies
Install the system dependencies:

$ rosdep install turtlesim
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Summary tools and catkin
catkin_init_workspace = creates a catkin workspace
catkin_make = makes (compiles) a catkin workspace
catkin_create_pkg = creates a new catkin package
rospack = ros+pack(age) : provides information related to

ROS packages
roscd = ros+cd : changes directory to a ROS package or

stack
rosdep = ros+dep(endencies) : resolve and install ROS

dependencies
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Slide 45
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Understanding ROS Nodes
Quick Overview of Graph Concepts
nodes: A node is an executable that uses ROS to

communicate with other nodes.
roscore: Master + rosout + parameter server
rosout: ROS equivalent of stdout/stderr
Slide 46
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Nodes
A node really isnt much more than an executable file

within a ROS package.
Nodes can publish or subscribe to a Topic and can provide

or use a Service.
ROS nodes use a ROS client library to communicate with

other nodes.
ROS client libraries allow nodes written in different
programming languages to communicate:
rospy = python client library

roscpp = c++ client library
Slide 47
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roscore
roscore: Starts the ROS system.

$ roscore
... logging to /home/vseib/.ros/log/d5f3df62-39bf-11e5-9918-f0def1fd396c/roslaunch-vseib-tp-23

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://vseib-tp:60231/
ros_comm version 1.11.9
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.9
NODES
auto-starting new master
process[master]: started with pid [23614]
ROS_MASTER_URI=http://vseib-tp:11311/
setting /run_id to d5f3df62-39bf-11e5-9918-f0def1fd396c
process[rosout-1]: started with pid [23627]
started core service [/rosout]
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rosnode
rosnode displays information about the ROS nodes that

are currently running
typing rosnode shows available commands:

Commands:
rosnode
rosnode
rosnode
rosnode
rosnode
rosnode
ping
list
info
machine
kill
cleanup
test connectivity to node

list active nodes
print information about node
list nodes running on a particular machine
kill a running node
purge registration information of unreachable nodes
rosnode [command] -h displays command specific

help
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rosnode
Try it!
Open up a new terminal
Start rosnode list to see what running roscore did.

$ rosnode list
/rosout
only one node running so far
also try
$ rosnode ping /rosout
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rosnode
rosnode info : information about a specific node.

$ rosnode info /rosout
Node [/rosout]
Publications:
* /rosout_agg [rosgraph_msgs/Log]
Subscriptions:
* /rosout [unknown type]
Services:
* /rosout/set_logger_level
* /rosout/get_loggers
contacting node http://vseib-tp:49804/ ...
Pid: 23627
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rosrun
rosrun allows you to use the package name to directly

run a node within a package
package path not required
$ rosrun [package_name] [node_name]
Try it:
run turtlesim_node (from the turtlesim package)
in a new terminal
$ rosrun turtlesim turtlesim_node
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rosrun (turtlesim)
Try (in a new terminal window):

$ rosnode list
/rosout
/turtlesim
Figure : turtlesim
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rosrun
Try:
Ctrl-C to stop the node (in the terminal window where you
started turtlesim)
Re-run it with a Remapping Argument to change the

nodes name:
$ rosrun turtlesim turtlesim_node __name:=my_turtle

List the nodes again: $ rosnode list
/my_turtle
/rosout
You can stop turtlesim now (Ctrl-C in the turtlesim terminal)
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Review Nodes
roscore = ros+core : starts the ROS system (master +

rosout + parameter server)
rosnode = ros+node : ROS tool to get information about a

node.
rosrun = ros+run : runs a node from a given package.
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Understanding ROS Topics
Quick Overview of Graph Concepts
Nodes: A node is an executable that uses ROS to

communicate with other nodes.
Topics: Nodes can publish messages to a topic as well

subscribe to a topic to receive messages.
Messages: ROS data types used when subscribing or

publishing to a topic.
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ROS Topics: turtlesim
Make sure that roscore is running (in a new terminal):

$ roscore
Start turtlesim again (in a new terminal):

$ rosrun turtlesim turtlesim_node
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ROS Topics: turtlesim
Start turtle keyboard teleoperation

(in a new terminal):
$ rosrun turtlesim
turtle_teleop_key
You can move the turtle with the arrow

keys (terminal needs to have the focus).
Figure : turtlesim with
moving turtle
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ROS Topics: Behind the scenes
turtlesim_node and the turtle_teleop_key:

communication over a ROS Topic
turtle_teleop_key publishes the key strokes on a

topic
turtlesim_node subscribes to the same topic
examine what is going on with rqt_graph
rqt_graph creates a dynamic graph of whats going on in

the system
Enter in a new terminal:

$ rosrun rqt_graph rqt_graph
or simply:
$ rqt_graph
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ROS Topics: Behind the scenes

$ rosrun rqt_graph rqt_graph
Figure : rqt_graph output

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rostopic
rostopic tool allows you to get information about ROS

topics.
Syntax:
$ rostopic -h
rostopic
rostopic
rostopic
rostopic
rostopic
rostopic
bw
echo
hz
list
pub
type
display bandwidth used by topic

print messages to screen
display publishing rate of topic
information about active topics
publish data to topic
print topic type
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rostopic list
lets display active topics:

$ rostopic list
Output:
/rosout
/rosout_agg
/turtle1/color_sensor
/turtle1/cmd_vel
/turtle1/pose
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rostopic echo
rostopic echo displays data published on a specific

topic
Try (in a new terminal):

$ rostopic echo /turtle1/cmd_vel
Then go back to the turtle_teleop_key-Terminal and push

the keys.
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rostopic echo
Output:
linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
--Also check rqt_graph: rostopic echo now also
subscribed to the turtle1/cmd_vel topic!
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rostopic list
rostopic list returns a list of all topics currently

subscribed to and published.
Example:
$ rostopic list -h
Usage: rostopic list [/topic]
Options:
-h, --help
show this help message and exit
-b BAGFILE, --bag=BAGFILE
list topics in .bag file
-v, --verbose
list full details about each topic
-p
list only publishers
-s
list only subscribers
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rostopic list
$ rostopic list -v
Published topics:
* /turtle1/color_sensor [turtlesim/Color] 1 publisher
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher
* /rosout [roslib/Log] 3 publishers
* /rosout_agg [roslib/Log] 1 publisher
* /turtle1/pose [turtlesim/Pose] 1 publisher
Subscribed topics:
* /turtle1/cmd_vel [geometry_msgs/Twist] 2 subscribers
* /rosout [roslib/Log] 1 subscriber
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ROS Messages
Communication on topics happens by sending ROS

messages between nodes.
The publisher and subscriber must send and receive the

same type of message.
The topic type is defined by the message type published

on it.
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rostopic type
rostopic type determines the type of the message

sent on a topic.
In a new terminal try:

$ rostopic type /turtle1/cmd_vel
Output:
geometry_msgs/Twist
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rosmsg show
rosmsg show shows the fields of a message
In a new terminal try:

$ rosmsg show geometry_msgs/Twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
You can also combine rostopic type and rosmsg show:
$ rostopic type /turtle1/cmd_vel | rosmsg show
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rostopic pub
Lets send a message!
rostopic pub publishes data on to a topic currently

advertised.
Usage rostopic pub [topic] [msg_type] [args]

Try in a new terminal (all in one line):
$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -[2.0,0.0,0.0] [0.0,0.0,1.8]
Slide 71
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
rostopic pub
The effect:
Figure : Moving turtle

Slide 72
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
rostopic pub
What does the command mean?
rostopic pub: publish messages to a given topic
-1: only publish one message, then exit
/turtle1/cmd_vel: name of the topic to publish to
geometry_msgs/Twist: message type
- -: none of the following arguments is an option
2.0 1.8: two floating point elements: linear and angular

values
Parameters are given in YAML syntax

(see http://www.ros.org/wiki/ROS/YAMLCommandLine)
Slide 73
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
rostopic pub
Observation: Turtle stops moving after some time.
Reason: Turtle requires a steady stream of commands at

1 Hz to keep moving.
Publish steady stream of commands using pub -r
command (and removing the -1):
$ rostopic pub /turtle1/cmd_vel geometry_msgs/Twist

-r 1 -- [2.0,0.0,0.0] [0.0,0.0,1.8]
Again take a look at rqt_graph.
Slide 74
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
rostopic hz
rostopic hz reports the rate at which data is published.
try it out (in a new terminal):

$ rostopic hz /turtle1/cmd_vel
subscribed to [/turtle1/cmd_vel]
average rate: 1.000
min: 1.000s max: 1.000s std dev: 0.00000s window: 2
average rate: 1.000
min: 1.000s max: 1.000s std dev: 0.00028s window: 3
...
also try:
$ rostopic hz /turtle1/pose
Slide 75
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Review Topics
rostopic = ros+topic : tool to display information about

topics
rosmsg = ros+msg : tool to display information about

messages
rqt_graph : graphical tool to display active nodes and

topics
Slide 76
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Slide 77
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Services
Services are another way for nodes to communicate with

each other
Services allow nodes to send a request and receive a

response
Slide 78
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Messages vs. Services

Messages:
sender view:
1:n communication
system view:
n:n communication
non-blocking
no response message
needed
Services:
caller view:
1:1 communication
system view:
n:1 communication
blocking
always gets a response
Slide 79
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
rosservice
rosservice tool for listing and querying ROS services
Syntax:
$ rosservice -h
rosservice
rosservice
rosservice
rosservice
rosservice
list
call
type
find
uri
print information about active services

call the service with the provided args
print service type
find services by service type
print service ROSRPC uri
Slide 80
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
rosservice
Try:
$ rosservice list
Output:
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/teleop_turtle/get_loggers
/teleop_turtle/set_logger_level
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level
Slide 81
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
rosservice type
rosservice type: Find out what type a service has
Usage: rosservice type [service]
Try:
$ rosservice type clear
std_srvs/Empty
Empty means:
it sends no data when making a request

it receives no data when receiving a response
Slide 82
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Calling a service: rosservice call
rosservice call: Call a service
Usage: rosservice call [service] [args]
Try:
$ rosservice call clear
clears the background of the turtlesim window
Slide 83
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
rosservice and rostopic
We have alredy used
rostopic type [topic] and

rosmsg show [topic type]
Now the corresponding commands for services
rosservice type [service] and

rossrv show [service type]
Short form:
rosservice type [service] | rossrv show
Slide 84
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
First find out which arguments are required:
Try:
$ rosservice type spawn | rossrv show
float32 x
float32 y
float32 theta
string name
--string name
This service lets us spawn a new turtle at a given location

and orientation.
Slide 85
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Before calling the service, try:
rosnode list
rostopic list
rosservice list
Slide 86
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary

Remember the service type:
float32 x
float32 y
float32 theta
string name
--string name
Try:
$ rosservice call spawn 2 2 0.2 ""
It returns the new name of the turtle: name: turtle2
Slide 87
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Again, try:
rosnode list
rostopic list
rosservice list
Figure : A second turtle!
Slide 88
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary

You may want to try now (each in one line):
rostopic pub /turtle1/cmd_vel geometry_msgs/Twist

-- [2.0,0.0,0.0] [0.0,0.0,1.8]
rostopic pub /turtle2/cmd_vel geometry_msgs/Twist

-- [2.0,0.0,0.0] [0.0,0.0,2.0]
rosservice call turtle1/teleport_absolute

-- 5 8 3.14
rosservice call turtle2/teleport_absolute

-- 7 8 3.14
Slide 89
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Slide 90
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Parameter Server
roscore: Master + rosout + parameter server
Master: Name service for ROS (i.e. helps nodes find each
other)
rosout: ROS equivalent of stdout/stderr
parameter server: a shared dictionary
Slide 91
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Parameter Server
parameter server: a shared dictionary
runs inside the ROS Master
nodes store and retrieve parameters at runtime
not designed for high-performance
best used for static, non-binary data
Slide 92
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Parameter Server
The parameter server can store
integers: 1
floats: 1.0
boolean: true
lists: [1, 2, 3]
dictionaries: {a: b, c: d}
(Syntax: YAML (YAML Aint Markup Language))
Slide 93
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Parameter Server
rosparam: store and manipulate data on the ROS

Parameter Server
Usage:
rosparam
rosparam
rosparam
rosparam
rosparam
rosparam
set
get
load
dump
delete
list
set parameter
get parameter
load parameters from file
dump parameters to file
delete parameter
list parameter names
Slide 94
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Parameter Server
Try:
$ rosparam list
/background_b
/background_g
/background_r
/rosdistro
/roslaunch/uris/host_vseib_tp__45837
/rosversion
/run_id
Slide 95
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Parameter Server
Try:
$ rosparam get background_g

86
$ rosparam set background_r 150

(nothing happens)
$ rosservice call clear

(changes take effect)
Figure :
Background
changed
Slide 96
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Parameter Server
To display all parameters on the parameter server, try:
$ rosparam get /
background_b: 255
background_g: 86
background_r: 69
rosdistro: indigo
roslaunch:
uris: {host_vseib_tp__45837: http://vseib-tp:45837/}
rosversion: 1.11.9
run_id: 89725d34-cfb6-11e0-9200-0024e83031ad
Slide 97
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Parameter Server
$ rosparam dump [file name]

save parameters to file
$ rosparam load [file name] [namespace]

load from file
Try:
$ rosparam dump params.yaml
$ rosparam load params.yaml copy
$ rosparam get copy/background_b
255
Slide 98
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Review Services and Parameters
rosservice = ros+service: tool for listing and querying

ROS services
rossrv = ros+srv: tool to display information about

services
rosparam = ros+param: store and manipulate data on the

ROS Parameter Server
Slide 99
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Slide 100
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Summary
ROS Introduction:
concepts of ROS (nodes, topics, messages, services)
packages: rospack, rosdep
file system: roscd
catkin: catkin_init_workspace, catkin_make,

catkin_create_pkg
Slide 101
Introduction
Nodes
Topics and Messages
Services
Parameter Server
Summary
Summary
ROS nodes, messages, and topics:
start ROS system: roscore
nodes: rosnode, rosrun
topics and messages: rostopic, rosmsg
ROS services and parameters:
services: rosservice, rossrv
parameters: rosparam
Slide 102

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ROS - Session 1

ROS Workshop at the

August 10th, 2015

V. Seib ROS - Session 1

Diploma in Computer Sciences in

since 2011: Research assistant in

Research topics: Affordance

Team Leader of team

1st place in RoboCup@Home 2015!

V. Seib ROS - Session 1

located at the confluence of

about 109,000 inhabitants

university with 7,000

V. Seib ROS - Session 1

V. Seib ROS - Session 1

V. Seib ROS - Session 1

ROS Filesystem and Catkin

Topics and Messages

V. Seib ROS - Session 1

ROS Filesystem and Catkin

Topics and Messages

ROS (Robot Operating System)

ROS is an open-source middleware for robots.

message-passing between processes, and package management.1

http://www.ros.org (where the following material is taken from)

V. Seib ROS - Session 1

ROS Filesystem and Catkin

Topics and Messages

ROS is a distributed framework of processes (aka

enables executables to be individually designed and

supports code reuse in robotics research and development

Language independence: Python and C++ (and others)

Scaling: ROS is appropriate for large runtime systems and

V. Seib ROS - Session 1

ROS Filesystem and Catkin

Topics and Messages

Distributions: ROS Distributions are collections of

Repositories: Different institutions can develop and

The ROS Wiki: The ROS community Wiki is the main

Mailing Lists: ros-users mailing list

V. Seib ROS - Session 1

ROS Filesystem and Catkin

Topics and Messages

ROS is a common platform with worldwide acceptance:

V. Seib ROS - Session 1

ROS Filesystem and Catkin

Topics and Messages

ROS has two important levels of concepts:

Filesystem level: ROS resources on disk

Computation Graph level: peer-to-peer network of ROS

V. Seib ROS - Session 1

ROS Filesystem and Catkin

Topics and Messages

Concepts: Filesystem level

processes (nodes), ROS-dependent libraries, datasets, configuration

about a package (e.g. dependencies, compiler flags).

structures for messages sent in ROS.

response data structures for services in ROS.

and response data structures for the actionlib in ROS.

V. Seib ROS - Session 1

ROS Filesystem and Catkin

Topics and Messages

Concepts: Computation Graph Level

V. Seib ROS - Session 1