Just starting to learn ROS, going to the robot pit, and reference materials is "ROS and people development practices" Huchun Xu edited Machinery Industry Press chapter of technology products. Originally thought can follow the steps on the book step by step, however, too young to simple ah, bitter force programmers day began, specially recorded as follows.
First, several concepts:
1, ROS: (Robot operating system), is a direct translation of the robot operating system, but the pit father is that it is not a system, he just write powerful robot software framework. It contains a lot of tools, a rich library, many of the agreements, with the role of the operating system, including hardware abstraction, the underlying drive management functions perform the function, message passing between applications, program distribution package management. It can greatly simplify complex robotic platform to improve the stability of the robot behavior control. However, I would say called ROS (robot operating system framework) some more user-friendly.
2, ROS design goals:
a, maximize software reuse rate in robot research and development
B, the frame in each functional module can be separately designed, compiled, runtime binding loosely-coupled
C, the functional modules are packaged in separate packages or the function packages neuronal function, easy to distribute and share community
d, ROS consists of four core communications mechanism part, development tools, applications, and functionality ecosystem
e, the robot was developed to provide hardware abstraction, the underlying driver, messaging, program management, application prototyping and other mechanisms to integrate third-party tools and libraries to facilitate users to quickly build complete robotic applications, writing and multi-machine integration
3, ROS features: ROS distributed core network, communication by means of a flexible, efficient data transfer.
a, point of design, processes run as nodes form
b, multi-language support, C, C ++, Python, Java and Lisp Octave and so on, each module can be implemented in different languages
c, streamlined structure, high integration
d, the formation of rich Kit
e, open source and free, BSD agreement
Second, the installation ROS, ROS main support specific version of linux, almost every version of ROS and corresponds to the corresponding version of linux, otherwise almost impossible to successfully install the latest version of ROS Melodic was released in May 2018, almost all of the Internet kinetic version, linux version can choose ubuntu 18.04.2, the desktop does not seem too many demands.