1. ROS Seminar @ Dong-a University, Busan 2015/07/08
www.facebook.com/yoonseok.pyo ROS !
2. 2
3. ROS ROS Seminar @ Busan Section 1 2015/07/08
www.facebook.com/yoonseok.pyo
4. ROSRobot Operating System
5. ROSRobot Operating System
6. http://www.rosewill.com/,
http://www.samsung.com/global/business/mobile/product/smartphone
Personal Computer Smartphone 6
7. 7
8. http://www.techpowerup.com/,
http://global.samsungtomorrow.com/ Personal Computer Smartphone
8
9. Personal Computer Smartphone
http://en.wikipedia.org/wiki/Linux, https://www.apple.com/,
http://windows.microsoft.com/, The icons are trade mark of each
company iOS 8 9
10. 10
11. 11
12. 12
13. Iron Man (2008 film) - Wikipedia Are you actually a genius?
13
14. 14
15. [1983 (?) DynaTAC 8000 Martin Cooper, ]
http://blog.cartoys.com/date/2013/04/,
https://line.do/the-evolution-of-cell-phones/r5q4ui/vertical
15
16. iOS 8 16
17. Photographed by Daniel Case, GNU Free Documentation License
Platform ? 17
18. Photographed by Daniel Case, GNU Free Documentation License
Platform ? 18
19. 19http:// ros.org kr.forwallpaper.com
http://www.softbank.jp/en/corp/group/sbr/ http://www.opros.or.kr/
http://www.openrtm.org/
20. 20http:// ros.org kr.forwallpaper.com
http://www.softbank.jp/en/corp/group/sbr/ http://www.opros.or.kr/
http://www.openrtm.org/ http://schools-wikipedia.org/
Galapagos
21. 21http:// ros.org kr.forwallpaper.com
http://www.softbank.jp/en/corp/group/sbr/ http://www.opros.or.kr/
http://www.openrtm.org/ http://schools-wikipedia.org/
Galapagos
22. 22
23. 23
24.
http://www.greaterlasvegashomes.com/files/2014/09/soccer-stadium-.jpg
24
25.
http://www.wallpaper505.com/the-best-world-football-players-2014-2015-best-desktop-wallpaper.html
25
26. 26
27. ROSRobot Operating System
28. ROS is an open-source, meta-operating system for your
robot. It provides the services you would expect from an operating
system, including hardware abstr action, low-level device control,
implementation of c ommonly-used functionality, message-passing
betw een processes, and package management. It also pr ovides tools
and libraries for obtaining, building, writ ing, and running code
across multiple computers. http://www.ros.org/wiki/
http://www.ros.org/news/ 28
29. http://www.ros.org/about-ros/ 29
30. ! http://imgfave.com/ 30
31. 31
32. 32
33. 33
34. iOS , , , , , , 34
35. iOS 35
36. iOS 36
37. 37
38. 38
39. 39
40. 40
41. 41
42. APP ROS ROBOT, SENSOR 2014 Metrics ,
http://download.ros.org/downloads/metrics/metrics-report-2014-07.pdf,
http://wiki.ros.org/Robots, http://www.ros.org/is-ros-for-me/ , ,
42
43. http://wiki.ros.org/Distributions 43 ?
44. Switchyard ROS ROS 1.0 2007 2007.11 2010.01.22 2010.03.02
2010.08.02 2011.03.02 2011.08.30 2012.04.23 2012.12.31 Box Turtle C
Turtle Diamondback Electric Emys Fuerte Turtle Groovy Galapagos
2013.09.04 2014.07.22 Hydro Medusa Indigo Igloo 2015.05.23 B C D E
F G H I http://wiki.ros.org/Distributions Jade Turtle J Kinetic
Kame 2016.05.xx 44
45. 45
46. 46
47. https://mirror.enha.kr/ 47
48. 48
49. ROSRobot Operating System
50. 50
51.
http://www.dreamstime.com/illustration/people-talk-listen-tin-can-phone-communication.html
Topic Publisher Subscriber Topic SLAM( X, Y, ) Publisher Subscriber
Topic A ( X, Y) Subscriber B Topic , 51
52.
http://www.dreamstime.com/illustration/people-talk-listen-tin-can-phone-communication.html
~ ! ? ? ~ 12:00! 52
53. 53
54. 1 2 (, ) 54
55. XMLRPC: http://ROS_MASTER_URI:11311 55
56. 2 XMLRPC: http://ROS_MASTER_URI:11311 :
/subscriber_node_name, /topic_name, message_type,
http://ROS_HOSTNAME:1234 XMLRPC: http://ROS_HOSTNAME:1234 56
57. 1 2 XMLRPC: http://ROS_MASTER_URI:11311 :
/publisher_node_name, /topic_name, message_type,
http://ROS_HOSTNAME:5678 XMLRPC: http://ROS_HOSTNAME:5678 57
58. 1 2 : /publisher_node_name, /topic_name, message_type,
http://ROS_HOSTNAME:5678 XMLRPC: XMLRPC: http://ROS_HOSTNAME:1234
58
59. 1 2 XMLRPC: http://ROS_HOSTNAME:1234 TCPROS XMLRPC:
http://ROS_HOSTNAME:5678 59
60. 1 2 XMLRPC: http://ROS_HOSTNAME:1234 TCPROS XMLRPC:
http://ROS_HOSTNAME:5678 (http://ROS_HOSTNAME:3456) 60
61. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS TCPROS:
ROS_HOSTNAME:3456 61
62. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS: ROS_HOSTNAME:3456 ()
62
63. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS: ROS_HOSTNAME:3456 ()
63
64. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS: ROS_HOSTNAME:3456 /
() 64
65. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS: ROS_HOSTNAME:3456 (
) ( ) 65
66. 66
67. roscore http://192.168.4.100:50051 turtlesim_node
http://192.168.4.100:45704 turtle_teleop_key /turtle1/cmd_vel :
/teleop_turtle, /turtle1/cmd_vel, geomety_msgs/Twist,
http://192.168.4.100:45704 : /teleop_turtle, /turtle1/cmd_vel,
geomety_msgs/Twist, http://192.168.4.100:45704 : /turtlesim,
/turtle1/cmd_vel, geomety_msgs/Twist, http://192.168.4.100:50051
http://192.168.4.100:11311 67
68. ROSRobot Operating System
69. ROSRobot Operating System
70. 70
71. 71
72. 72http://www.ros.org/core-components/
73. 73http://www.ros.org/core-components/
74. 74http://www.ros.org/core-components/
75. 75
76. 76
77. 77
78. 78
79. ~
80. ROS SLAM ROS Seminar @ Busan Section 2 2015/07/08
www.facebook.com/yoonseok.pyo
81. ROSRobot Operating System
82. ROSRobot Operating System
83. 83
84. ? ;; 84
85. 85
86. ? OTL... ! ;; 86
87. ~ ! ? 87
88. Wikimol, CC BY-SA 3.0 1. . 2. . 3. (). - - 88
89. Ciaran Griffin, http://www.gettyimages.com 1. . 2. . 3. ().
- - 89
90. ? 90
91. http://www.pinterest.com/jerodor/cagaduisimo/ 91
92. Big Dipper, by Magnus Manske, Public Domain pixabay.com,
CC0 92
93. ! 93
94. ( .) 94
95. A B ! ! 95
96. A B ! ! : / : , : : 96
97. StarGazer Vicon MXEstimote (Beacon) 97
98. Kobuki 98
99. 99
100. 100
101. pixabay.com, CC0 ! OK! , , , ? , ? 101
102. pixabay.com, CC0 ! OK! , , , ? , ? ? ! SLAM (Simultaneous
Localization And Mapping) ? 102
103. https://students.cs.byu.edu/~cs470ta,
http://vimeo.com/3423169 103
104. pixabay.com, CC0, www.willowgarage.com CC BY 3.0 104
105. + ++ SLAM Navigation 105pixabay.com, CC0,
www.willowgarage.com CC BY 3.0
106. ROSRobot Operating System
107. https://www.openslam.org/gmapping.html 107
108. 108
109. $ sudo apt-get install ros-indigo-kobuki*
ros-indigo-gmapping ros-indigo-navigation $ sudo apt-get install
ros-indigo-urg-node $ cd ~/catkin_ws/src $ git clone
https://github.com/oroca/oroca-ros-pkg.git $ cd ~/catkin_ws
&& catkin_make 109
110. $ roscore $ roslaunch kobuki_node minimal.launch $ sudo
chmod a+rw /dev/ttyACM0 $ roslaunch kobuki_slam kobuki_slam.launch
$ rosrun rviz rviz -d `rospack find
kobuki_slam`/rviz/kobuki_slam.rviz $ roslaunch kobuki_keyop
safe_keyop.launch $ rosrun map_server map_saver 110
111. 111 https://youtu.be/XB1s0Y4oFJI
112. 2 (OGM, Occupancy Grid Map) = (free area) = (occupied
area) = (unknown area) 112
113. 113
114. SLAM, Navigation ? SLAM, Navigation . . 114
115. SLAM, Navigation ? . , , . . SLAM, Navigation ? SLAM,
Navigation . . 115
116. 116
117. http://en.wikipedia.org/wiki/Kalman_filter, CC0 117
118. S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics.
MIT Press, Cambridge, MA, 2005. 118
119. ROSRobot Operating System
120. 120http://wiki.ros.org/navigation
121. 121 https://youtu.be/xCRsszVAP1E
122. Dynamic Window D. Fox, W. Burgard and S. Thrun, The
dynamic window approach to collision avoidance, IEEE Robotics &
Automation Magazine 122
123. Goal 123
124. Goal 124
125. Goal 125
126. SLAM, Navigation ? . , , . . SLAM, Navigation ? SLAM,
Navigation . . 126
127. ~
128. MoveIt! ROS Seminar @ Busan Section 3 2015/07/08
www.facebook.com/yoonseok.pyo
129. ROSRobot Operating System
130. ROSRobot Operating System
131. ? 131
132. 132http://www.hottoys.com.hk/
133. http://www.hottoys.com.hk/ 133
134. ~ ! 134
135. (unimate), 1961 ~ http://en.wikipedia.org/wiki/Unimate
135
136. ROSRobot Operating System
137. (SCARA) http://www.ait.kyushu-u.ac.jp/ 137
138. (SCARA) 138http://www.ait.kyushu-u.ac.jp/
139. http://www.robotis.com/ 6th axis 5th axis 4th axis 3rd
axis 2nd axis 1st axis (revolute joint) (link) 139
140.
http://www.theroboticschallenge.org/http://www.robotis.com/ ! 6th
axis 5th axis 4th axis 3rd axis 2nd axis 1st axis (revolute joint)
(link) 140
141. 141 CHIMP (TARTAN RESCUE) Aero DRC (TEAM AERO) HRP2+ (TEAM
AIST-NEDO) DRC-Hubo (TEAM DRC-HUBO AT UNLV) Cog-Burn (TEAM GRIT)
Johnny 05 (TEAM HECTOR) Atlas (TEAM HKU) HRP-2 (Team HRP2-Tokyo)
Running Man (Team IHMC Robotics) Xing Tian (Team Intelligent
Pioneer) DRC-HUBO (Team KAIST) Helios (Atlas) (Team MIT) Hydra
(Team NEDO-Hydra) JAXON (Team NEDO-JSK) Momaro (Team NimbRo Rescue)
RoboSimian (Team RoboSimian) THORMANG (Team ROBOTIS) THORMANG (Team
SNU) THOR-RD (Team THOR) Hercules (Team TRAC Labs) LEO (Team
TROOPER) ESCHER (Team VALOR) Florian (Team ViGIR) WALK-MAN (Team
WALK-MAN) WARNER (Team WPI-CMU)
http://www.theroboticschallenge.org/teams
142. ROSRobot Operating System
143. Yaskawa SmartPal V 143
144. 144 https://youtu.be/4VtDHWiN0as
145. ? ! 145
146. ? ! ! ! (^^)/ 146
147. , ! 147
148. 148
149. x y z 3 ! (x,y,z) (work space): (x, y, z) (, , ) 149
150. http:// www.neo-tex.com x y z 3 ! (x,y,z)
http://www.robotis.com/ ? . ^^;; (1, 2, 6) (work space): (x, y, z)
(, , ) 6th axis 5th axis 4th axis 3rd axis 2nd axis 1st axis (joint
space): (123...) 150
151. http://www.tbotech.com/sodacansafe.htm x y z (x, y, z) (,
, ) roll() pithch() yaw() 6 / = 6 151
152. x y z (x, y, z) (, , ) roll() pithch() yaw() 6th axis 5th
axis 4th axis 3rd axis 2nd axis 1st axis http://www.robotis.com
http://www.tbotech.com/sodacansafe.htm 6 / = 6 6 , = 6 152
153. 153
154. 154
155. ROSRobot Operating System
156. ! 156
157. . ! 157
158. 158 https://youtu.be/dblCGZzeUqs
159. 159http://wiki.ros.org/ROS/Patterns/RobotModelling
160. URDF(Universal Robot Description Format) RViz
SRDF(Semantic Robot Description Format) MoveIt! SDF(Simulation
Description Format) Gazebo URDF
160http://wiki.ros.org/ROS/Patterns/RobotModelling
161. $ cd ~/catkin_ws/src $ catkin_create_pkg
testbot_description urdf $ cd testbot_description $ mkdir urdf $ cd
urdf $ gedit testbot.urdf 1 2 3 1 2 3 4 161 ()
https://github.com/oroca/rosbook_robot_arm/
blob/master/testbot_description/urdf/testbot.urdf
162. 1 2 3 1 2 3 4 162
163. 1 2 3 1 2 3 4 163
164. $ check_urdf testbot.urdf robot name is: test_robot
---------- Successfully Parsed XML --------------- root Link: base
has 1 child(ren) child(1): link1 child(1): link2 child(1): link3
child(1): link4 $ urdf_to_graphiz testbot.urdf Created file
test_robot.gv Created file test_robot.pdf 164
165. $ roslaunch testbot_description testbot.launch $ rosrun
rviz rviz 165
166. 166
167. 167 https://youtu.be/pLG6DGtFoOg
168. (Jorge Santos, CC BY 3.0) $ cd ~/catkin_ws/src $ git clone
https://github.com/turtlebot/turtlebot_arm.git 168
169. $ roslaunch turtlebot_arm_description test.launch $ rosrun
rviz rivz 169 https://youtu.be/ZgrUVjANkBQ
170. ROSRobot Operating System
171. http://moveit.ros.org/documentation/concepts/ 171
172. $ roslaunch moveit_setup_assistant setup_assistant.launch
172
173. 173
174. 174
175. 175
176. 176
177. 177
178. 178
179. 179
180. 180
181. 181
182. $ roslaunch turtlebot_arm_moveit_config
turtlebot_arm_moveit.launch 182
183. 183 https://youtu.be/5rMv3ZDyFwQ
184. 184
185. $ sudo apt-get install ros-indigo-dynamixel* $ sudo
apt-get install ros-indigo-arbotix* $ roslaunch
turtlebot_arm_bringup arm.launch --screen $ roslaunch
turtlebot_arm_moveit_config turtlebot_arm_moveit.launch sim:=false
screen 185
186. 186
187. 187
188. !
189. ! ! ROS ! ~
190. ! ~ www.oroca.org , , (KOS-ROBOT)
www.facebook.com/groups/KoreanRobotics ? ~
191. Yoonseok Pyo [email protected] www.robotpilot.net
www.facebook.com/yoonseok.pyo ~ ! *^^* .
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