查看ROS的源代码

{{SeeWikipedia|Robot Operating System}}

Robot operating system(ROS) 

==简介==
ROS 是一个构建机器人及应用的操作系统，采用 BSD 许可协议。

ROS 的主要目标是为机器人研究和开发提供代码复用的支持。

==新闻==
<rss>http://www.ros.org/news/atom.xml|short|date|max=10</rss>

==功能==

==语言==
ROS 提供了 [[C++]] 和 [[Python]] 两种主要的编程接口，提供了类似 Debian 的包管理系统，开发者能方便的开发、安装、管理应用包。

此外，也提供了 [[Common Lisp]] 的[https://github.com/ros/roslisp 编程语言]库。

==ROS==
[[文件:ros-equation.png]]

==ROS2==
采用的一些新技术：
*[http://www.zeroconf.org/ Zeroconf]
*[[Protocol Buffers]]
*[[ZeroMQ]] (and the other MQs)
*[[Redis]]
*[[WebSockets]]
*[https://docs.ros.org/en/galactic/Installation/DDS-Implementations.html Installing DDS implementations] ([[Data Distribution Service]])

==版本==
*[http://wiki.ros.org/melodic ROS Melodic Morenia] 12th official ROS release.
*[http://wiki.ros.org/lunar ROS Lunar Loggerhead] 11th official ROS release.
*[http://wiki.ros.org/kinetic ROS Kinetic Kame] 10th official ROS release. 
*ROS 2 [http://design.ros2.org/ ROS 2.0 Design]，采用了[[Data Distribution Service|DDS]]（数据分发服务）。
*[https://github.com/ros2 ROS 2 @ GitHub]
*ROS 1
*[https://github.com/ros ROS core stacks @ GitHub]

ROS发布了两个版本：
*[http://www.ros.org/wiki/cturtle C Turtle] 
*[http://www.ros.org/wiki/boxturtle Box Turtle]

[[Image:ros-meet-arduino.png]] ROS 集成 [[Arduino]]

==ROS驱动==
<gallery widths=100px heights=100px perrow=6>
Image:PR2.jpg|PR2
Image:PR2-02.jpg|PR2玩桌球
Image:ros-nao.jpg|Nao
Image:Care-O-bot-3.jpg|Care-O-bot 3
Image:roomba.jpg|Roomba
</gallery>

[http://wiki.ros.org/Robots 更多Robots >>>]

==PR2==
[http://www.willowgarage.com/pages/pr2/order PR2 Robot System]报价包括以下：
*Two arms + grippers
*Omnidirectional mobile base
*Sensor suite (mono-stereo with texture projector, wide field of view color stereo, 5MP camera, tilting LIDAR, base LIDAR, IMU, pan/tilt platform, forearm cameras, gripper tip sensors)
*2 x onboard Xeon servers (each server: 8 cores i7, 24GB RAM, 2TB disk)
*Power system (onboard chargers, 1.3 kWh battery system)
*Full system EtherCAT motion control network
*Full system Gigabit Ethernet network with 32GB backplane switch
*Dual radio WiFi
*Wireless Run-Stop system
*Base station
$400,000.00 + Taxes and Shipping

==项目==
*[https://github.com/ros ROS @ GitHub]
*[http://www.ros.org/browse/list.php ROS packages]
*[https://github.com/ros-industrial ROS-Industrial]
*[https://github.com/cyberdb/micROS-drt micROS-drt] An implementation of ROS 1.x on [[Data Distribution Service|DDS]]
*[[Apollo Auto]]
*[http://gazebosim.org/ Gazebo]
*[https://github.com/lgsvl/simulator SVL Simulator: An Autonomous Vehicle Simulator]
*[https://01.org/robotics-autonomous-systems Intel ROS]
*[https://github.com/ros-simulation Simulation Tools In ROS]
*[https://www.autoware.org/ Autoware Foundation]
*[https://www.apex.ai/ Apex.AI]
*[https://github.com/adnanademovic/rosrust rosrust] pure [[Rust]] implementation of a ROS client library. [https://robotics.rs/ Rust is for Robotics]

==AWS RoboMaker==
*[https://aws.amazon.com/cn/robomaker/resources/ AWS RoboMaker 提供适用于 ROS 的云扩展工具]
*[https://blogs.nvidia.com/blog/2019/03/18/jetson-aws-robomaker/ Nvidia – 具有 ROS 和 AWS RoboMaker 的 JetBot AI 工具包]

==厂商==
*[https://github.com/pal-robotics PAL Robotics S.L.]

==文档==
*[http://docs.huihoo.com/ros/roscon/2013/uROSnode-running-ROS-on-microcontrollers.pdf μROSnode – running ROS on microcontrollers]
*[http://docs.huihoo.com/ros/roscon/2014/next-generation-ros-building-on-dds.pdf Next-generation ROS: Building on DDS]

==培训==
*[https://www.apex.ai/autoware-course Self-Driving Cars with ROS and Autoware] [https://www.autoware.org/training @ Autoware Foundation]

==汽车==
*[[Autonomous car]]
*[https://github.com/CPFL/Autoware Autoware]
*[http://weibo.com/5866810652/Dn5tUDvBa ROS已经被用来运行国际空间站的仿人机器人还有百度的无人车。]
*[http://robots.ros.org/adas-development-vehicle-kit/ ADAS Development Vehicle Kit]
*[https://www.duckietown.org/ Duckietown] [https://github.com/duckietown @ GitHub]
*[https://robohub.org/how-to-start-with-self-driving-cars-using-ros/ How to start with self-driving cars using ROS]

==图集==
<gallery>
image:ros-on-dds.png|ROS on DDS
image:ros-gui-rqt.png|rqt
image:autoware.png|Autoware
image:ros2-api-stack.png|ROS2 API
image:micro-ROS-architecture.png|micro-ROS
image:gazebo-integration-ros.png|集成Gazebo
image:gazebo-ros-transmission.png|Gazebo数据流 
</gallery>

==链接==
*[http://www.ros.org Robot operating system官网] 
*[https://build.ros.org/ ROS Build]
*[https://www.openrobotics.org/ Open Source Robotics Foundation]
*[http://www.willowgarage.com/ ROS背后的公司:Willow Garage]
*[http://pr2support.willowgarage.com/wiki/ PR2 Support]
*[http://www.ros.org/wiki/cturtle/Installation/VirtualBox 下载VirtualBox Appliance开始体验]
*[http://docs.huihoo.com/ros/roscon/ ROS Developer Conference]
*[http://geek.csdn.net/news/detail/78099 基于ROS的无人驾驶系统]
*[http://geek.csdn.net/news/detail/101667 基于Spark与ROS分布式无人驾驶模拟平台]
*[https://www.openrobotics.org/blog/2020/4/10/darpa-subt SubT Challenge Urban Circuit Overview]

[[category:operating system]]
[[category:robot]]
[[category:automotive]]
[[category:ubuntu]]
[[category:artificial intelligence]]
[[category:DDS]]
[[category:qt]]
[[category:c++]]
[[category:python]]
[[category:huihoo]]