ROS Robot Operating System

ROS is robot operating system?

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ROS publish data in Data Distributed Standard, managed by ROS Master.

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Node is a functional code in ROS, which perform tasks, like path planning, object detection, etc

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Communication between nodes is implemented using Topic, Service and Actions

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To create a package pkg1 with node name

• ros2 run node file.py

• ros2 launch node file.launch

• colcon build

• ros2 pkg create pkg1 --build-type ament_python --node-name node

To register your package with ROS after built, you could run the command:

• ros2 apply pkg

• ros2 register pkg

• source ~/dev_ws/install/setup.bash

• source .bashrc

To start turtlesim node

• ros2 run turtlesim turtle_node

• ros2 topic turtlesim_node

• ros2 service turtlesim_node

• ros2 action turtlesim_node

To compile and build a ROS package

• ros2 run pkg

• colcon build

• ros2 compile pkg

• ros2 launch pkg

CMakeLists.txt is instructions and dependencies for ROS package compile and build.

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ROS is operating system that run word, excel and office application.

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