Robot Operating System

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Robot Operating System

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Basic data

Maintainer Open Source Robotics Foundation
developer Willow Garage, Stanford Artificial Intelligence Laboratory
Publishing year 2007
Current  version Noetic Ninjemys
( May 23, 2020 )
operating system Linux ,
Mac OS (experimental),
Windows (rudimentary)
programming language C ++ , Python
category Robot software framework
License BSD license
http://ros.org/

Robot Operating System ( ROS ) is a framework for personal robots . Development began in 2007 at the Stanford Artificial Intelligence Laboratory as part of the Stanford AI Robot Project (STAIR) and was developed further from 2009 mainly at the Willow Garage robotics institute . Since April 2012, ROS has been supported by the newly founded, non-profit organization Open Source Robotics Foundation (OSRF) and has been coordinated, maintained and further developed by Willow Garage since the end of operational activities in 2013. The ROS Industrial Consortium has been promoting and supporting ROS for applications in industrial robotics since 2013 . In Europe, the Fraunhofer IPA coordinates the activities of the ROS Industrial Consortium Europe .

software

The ROS libraries are based on operating systems such as Linux , macOS or Windows .

The main components and functions of ROS are

The system is divided into the actual operating system ros and ros-pkg , a selection of additional packages that add (mostly individual) capabilities to the basic system. A service-oriented architecture is used to enable communication between the individual components.

ROS is published under the BSD license and can therefore be assigned to the open source scene .

Up to April 2012, 3699 packages were published for ROS to map individual functionalities .

ROS 1.x is not real-time capable , but can work with real-time capable components. One of the goals of ROS version 2.0 and higher is a. to be real-time capable.

Since the beginning of the development of ROS 2.0, a distinction has been made between ROS 1 and ROS 2 . The two major versions are not compatible with each other, but they are interoperable and can run in parallel. The motivation behind developing ROS 2 is to keep what's good about ROS 1 and improve those areas that have disadvantages. These include B. the real-time capability, the certifiability for (security) critical applications in end products and the feasibility on small processors such as microcontrollers. The main difference between ROS 2 and ROS 1 is the replacement of the previously specially developed middleware with the standard data distribution service .

Development history

ROS 1

version publication Web link Remarks
Older version; no longer supported:Box Turtle ( box turtle )
 March 2, 2010 wiki.ros.org/boxturtle
Older version; no longer supported:C Turtle
( sea turtle) 		August 2, 2010 wiki.ros.org/cturtle
Older version; no longer supported:Diamondback
( diamond turtle ) 		March 2, 2011 wiki.ros.org/diamondback
Older version; no longer supported:Electric Emys
(electric Emys ) 		August 30, 2011 wiki.ros.org/electric
Older version; no longer supported:Fuerte Turtle
("strong turtle") 		April 23, 2012 wiki.ros.org/fuerte
Older version; no longer supported:Groovy Galapagos
( giant Galapagos tortoise ) 		December 31, 2012 wiki.ros.org/groovy The
stacks used to organize packages are being replaced by metapackages .
The ROS own build system Catkin , which internally uses the
meta build system CMake , replaces the earlier Rosbuild .
Older version; no longer supported: Hydro Medusa 4th September 2013 wiki.ros.org/hydro
Older version; no longer supported: Indigo Igloo July 22, 2014 wiki.ros.org/indigo This version had Long Term Support (LTS) until April 2019.
Older version; no longer supported: Jade Turtle May 23, 2015 wiki.ros.org/jade
Older version; still supported:Kinetic Kame Kame Japanese for turtle
 May 23, 2016 wiki.ros.org/kinetic This version has Long Term Support (LTS) until April 2021.
Older version; no longer supported:Lunar Loggerhead
(lunar musk or hawksbill turtle ) 		May 2017 wiki.ros.org/lunar
Older version; still supported:Melodic Morenia
(melodic peacock pond turtle) 		May 2018 wiki.ros.org/melodic This version has Long Term Support (LTS) until April 2023.
Current version: Noetic Ninjemys
( Noetic Ninjemys oweni) 		May 23, 2020 wiki.ros.org/noetic
Legend:
Older version; no longer supported
Older version; still supported
Current version
Current preliminary version
Future version

ROS 2

version publication Web link Remarks
Older version; no longer supported: Ardent Apalone December 8, 2017
Older version; no longer supported: Bouncy Bolson 2nd July 2018
Older version; no longer supported: Crystal Clemmys December 14, 2018
Older version; still supported: Dashing Diademata May 31, 2019
Older version; still supported: Eloquent Elusor 22nd Nov 2019
Current version: Foxy Fitzroy 5th June 2020
Legend:
Older version; no longer supported
Older version; still supported
Current version
Current preliminary version
Future version

Web links

Individual evidence

  1. ↑ wiki.ros.org .
  2. ↑ willowgarage.com
  3. ↑ willowgarage.com
  4. ↑ willowgarage.com
  5. ↑ rosindustrial.org
  6. ↑ de / ROS / Introduction - ROS Wiki. Open Source Robotics Foundation, accessed April 24, 2017 .
  7. ↑ design.ros2.org
  8. ↑ design.ros2.org
  9. ↑ ros.org
  10. ↑ a b wiki.ros.org
  11. ↑ index.ros.org
  12. ↑ index.ros.org
  13. ↑ index.ros.org
  14. ↑ index.ros.org
  15. ↑ ROS 2 Eloquent Elusor (code name 'eloquent'; November 22nd, 2019). Retrieved December 9, 2019 .
  16. ↑ ROS 2 Foxy Fitzroy (code name 'foxy'; May 23rd, 2020). Retrieved August 7, 2020 .