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释义 |
| name = | logo = Melodic Morenia.png | logo size = 150px | logo caption = Melodic Morenia Logo | screenshot = Cart_pushing_rviz_holonomic.jpg | caption = Cart pushing simulation in RVIZ | author = Willow Garage Stanford Artificial Intelligence Laboratory | released = {{Start date and age|2007}} | latest release version = Melodic Morenia[1] | latest release date = {{Start date and age|df=yes|2018|05|23}} | operating system = Linux, MacOS (experimental), Windows 10 | genre = Robotics suite, OS, library | license = BSD license | website = {{URL|www.ros.org}} | programming_language = C++ or Python }}Robot Operating System (ROS) is robotics middleware (i.e. collection of software frameworks for robot software development). Although ROS is not an operating system, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. Running sets of ROS-based processes are represented in a graph architecture where processing takes place in nodes that may receive, post and multiplex sensor, control, state, planning, actuator, and other messages. Despite the importance of reactivity and low latency in robot control, ROS itself is not a real-time OS (RTOS). It is possible, however, to integrate ROS with real-time code.[2] The lack of support for real-time systems has been addressed in the creation of ROS 2.0.[3][4][5] Software in the ROS Ecosystem[6] can be separated into three groups:
Both the language-independent tools and the main client libraries (C++, Python, and Lisp) are released under the terms of the BSD license, and as such are open source software and free for both commercial and research use. The majority of other packages are licensed under a variety of open source licenses. These other packages implement commonly used functionality and applications such as hardware drivers, robot models, datatypes, planning, perception, simultaneous localization and mapping, simulation tools, and other algorithms. The main ROS client libraries (C++, Python, and Lisp) are geared toward a Unix-like system, primarily because of their dependence on large collections of open-source software dependencies. For these client libraries, Ubuntu Linux is listed as "Supported" while other variants such as Fedora Linux, macOS, and Microsoft Windows are designated "Experimental" and are supported by the community.[11] The native Java ROS client library, rosjava, however, does not share these limitations and has enabled ROS-based software to be written for the Android OS.[12] rosjava has also enabled ROS to be integrated into an officially supported MATLAB toolbox which can be used on Linux, macOS, and Microsoft Windows.[13] A JavaScript client library, roslibjs has also been developed which enables integration of software into a ROS system via any standards-compliant web browser. In September 2018 Microsoft ported Core ROS to Windows 10. History and milestones2007
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ApplicationsROS areas include:
ROS package application areas will include:
ROS-IndustrialROS-Industrial[67] is an open-source project (BSD (legacy) / Apache 2.0 (preferred) license) that extends the advanced capabilities of ROS to manufacturing automation and robotics. The ROS-Industrial repository includes interfaces for common industrial manipulators, grippers, sensors, and device networks. It also provides software libraries for automatic 2D/3D sensor calibration, process path/motion planning, applications like Scan-N-Plan, developer tools like the Qt Creator ROS Plugin, and training curriculum that is specific to the needs of manufacturers. ROS-I is supported by an international Consortium of industry and research members. The project began as a collaborative endeavor between Yaskawa Motoman Robotics, Southwest Research Institute, and Willow Garage to support the use of ROS for manufacturing automation, with the GitHub repository being founded in January 2012 by Shaun Edwards (SwRI). Currently, the Consortium is divided into three groups; the ROS-Industrial Consortium Americas (led by SwRI and located in San Antonio, Texas), the ROS-Industrial Consortium Europe (led by Fraunhofer IPA and located in Stuttgart, Germany) and the ROS-Industrial Consortium Asia Pacific (led by Advanced Remanufacturing and Technology Centre (ARTC) and Nanyang Technological University (NTU) and located in Singapore). The Consortia supports the global ROS-Industrial community by conducting ROS-I training, providing technical support and setting the future roadmap for ROS-I, as well as conducting pre-competitive joint industry projects to develop new ROS-I capabilities.[68] Version historyROS releases may be incompatible with other releases and are often referred to by code name rather than version number. The major releases so far are:
Ports to robots and boards
ROS packagesROS contains many open source implementations of common robotics functionality and algorithms. These open source implementations are organized into "packages". Many packages are included as part of ROS distributions, while others may be developed by individuals and distributed through code sharing sites such as github. See also{{Portal|Robotics|Free and open-source software}}
References1. ^{{cite web|url=https://wiki.ros.org/melodic|title=ROS Melodic Morenia |publisher=wiki.ros.org |date= |accessdate=2018-06-10}} 2. ^ROS-Introduction http://wiki.ros.org/ROS/Introduction 3. ^{{cite web|last1=Kay|first1=Jackie|title=Proposal for Implementation of Real-time Systems in ROS 2|url=http://design.ros2.org/articles/realtime_proposal.html|access-date=16 August 2016}} 4. ^{{cite web|last1=Kay|first1=Jackie|title=Realtime Design Guidelines For ROS 2|url=http://design.ros2.org/articles/realtime_background.html#design-guidelines-for-ros-2|website=design.ROS2.org|publisher=ROS2|access-date=22 November 2018}} 5. ^{{cite web|title=ROS 2 For Realtime Applications|url=https://discourse.ros.org/t/ros2-for-real-time-applications/6493|website=discourse.ROS.org|publisher=ROS|access-date=22 November 2018}} 6. ^{{cite web|title=Browsing packages for indigo|url=http://www.ros.org/browse/list.php|website=ROS.org|publisher=ROS|access-date=21 February 2016}} 7. ^{{cite web|title=Package Summary|url=http://wiki.ros.org/roscpp|website=ROS.org|publisher=ROS|accessdate=21 February 2016}} 8. ^{{cite web|title=Package SUmmary|url=http://wiki.ros.org/rospy|website=ROS.org|publisher=ROS|accessdate=21 February 2016}} 9. ^{{cite web|title=Package Summary|url=http://wiki.ros.org/roslisp|website=ROS.org|publisher=ROS|access-date=21 February 2016}} 10. ^{{cite web|url=http://wiki.ros.org/Client%20Libraries|title=client libraries|website=ROS.org|access-date=12 December 2017}} 11. ^{{cite web|url=http://wiki.ros.org/ROS/Installation |title=ROS/Installation - ROS Wiki |publisher=Wiki.ros.org |date=2013-09-29 |accessdate=2014-07-12}} 12. ^{{cite web|url=http://wiki.ros.org/android |title=android - ROS Wiki |publisher=Wiki.ros.org |date=2014-04-12 |accessdate=2014-07-12}} 13. ^{{cite web|url=http://www.mathworks.com/hardware-support/robot-operating-system.html |title=Robot Operating System (ROS) Support from MATLAB - Hardware Support |publisher=Mathworks.com |date= |accessdate=2014-07-12}} 14. ^{{cite web|url=http://stair.stanford.edu/|title=STAIR|website=stair.Stanford.edu|access-date=12 December 2017}} 15. ^{{citation |title=STAIR: Hardware and Software Architecture |first1=Morgan |last1=Quigley |first2=Eric |last2=Berger |first3=Andrew Y. |last3=Ng |author3-link=Andrew Ng |year=2007 |url=http://www.aaai.org/Papers/Workshops/2007/WS-07-15/WS07-15-008.pdf |publisher=AAAI 2007 Robotics Workshop}} 16. ^{{cite web|url=https://sourceforge.net/p/ros/code/10/log/?path=|title=Repository: code|website=Sourceforge.net|access-date=12 December 2017}} 17. ^{{Cite web|url=https://spectrum.ieee.org/automaton/robotics/robotics-software/the-origin-story-of-ros-the-linux-of-robotics|title=The Origin Story of ROS, the Linux of Robotics|website=IEEE Spectrum: Technology, Engineering, and Science News|language=en|access-date=2017-10-31}} 18. ^{{Cite web|url=http://personalrobotics.stanford.edu/|title=Stanford Personal Robotics Program|website=personalrobotics.stanford.edu|access-date=2017-07-03}} 19. ^{{Cite news|url=https://magazine.engineerjobs.com/2013/robot-operating-system.htm|title=Robot Operating System|date=2013-05-01|work=EngineerJobs Magazine|access-date=2017-07-03|language=en-US}} 20. ^{{cite web |url=http://www.ros.org/wiki/Repositories |title=Repositories |work=ROS.org |access-date=7 June 2011}} 21. ^1 {{cite web |url=http://www.robotics.stanford.edu/~ang/papers/icraoss09-ROS.pdf |title=ROS: an open-source Robot Operating System |first1=Morgan |last1=Quigley |first2=Brian |last2=Gerkey |first3=Ken |last3=Conley |first4=Josh |last4=Faust |first5=Tully |last5=Foote |first6=Jeremy |last6=Leibs |first7=Eric |last7=Berger |first8=Rob |last8=Wheeler |first9=Andrew |last9=Ng |author-link9=Andrew Ng |access-date=3 April 2010}} 22. ^{{cite web|url=http://www.ros.org/news/2009/02/|title=ROS robotics news: February 2009 Archives|website=www.ROS.org|access-date=12 December 2017}} 23. ^{{cite web|url=http://www.ros.org/news/2009/08/welcome-to-ros-org.html|title=Welcome to ros.org - 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Jay, Post to ros-users mailing list announcing ROS support for the Nao 86. ^{{cite web|url=http://unboundedrobotics.com/ubr-1/specification/ |title=Specification |publisher=Unbounded Robotics |date= |accessdate=2014-07-12}} 87. ^{{cite web|last=Ackerman |first=Evan |url=http://spectrum.ieee.org/automaton/robotics/industrial-robots/unbounded-robotics-revolutionizes-affordable-mobile-manipulation-with-ubr1 |title=UBR-1 Robot From Unbounded Robotics Revolutionizes Affordable Mobile Manipulation - IEEE Spectrum |publisher=Spectrum.ieee.org |date=2013-10-21 |accessdate=2014-07-12}} 88. ^{{cite web|url=https://downloads.ubiquityrobotics.com/ |title=Ubiquity Robotics Downloads |publisher= |date= |accessdate=29 January 2018}} 89. ^{{cite web|url=http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi |title=ROSberryPi/Installing ROS Kinetic on the Raspberry Pi |publisher= |date= |accessdate=29 January 2018}} 90. ^[https://husarion.com/core2/manuals/rosbot-manual/#rosbot-manual-overview Husarion ROSbot manual] 91. ^{{cite web|url=https://www.cyberbotics.com/doc/guide/using-ros |title=Using ROS with Webots |publisher= |date= |accessdate=2018-05-18}}
Related projects
External links
8 : 2007 in robotics|2007 software|Computer vision software|Free software operating systems|Open-source robots|Robot operating systems|Robotic manipulation|Robotics suites |
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