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ROS: Difference between revisions
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(Created page with "[http://wiki.ros.org/Documentation ROS] is a software platform for robotics. ==Concepts== * [http://wiki.ros.org/Topics Topic]: a named bus on which messages of a single type...") |
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** msg/MyMessageType.msg defines messages for the package, published to topics | ** msg/MyMessageType.msg defines messages for the package, published to topics | ||
** srv/MyServiceType.srv defines services for the package, supporting request/reply semnatics | ** srv/MyServiceType.srv defines services for the package, supporting request/reply semnatics | ||
* [http://wiki.ros.org/Nodes Node]: a named process that performs computation | |||
** A running node has a type and a graph resource name | |||
** A node is typically launched standalone using [http://wiki.ros.org/rosbash#rosrun rosrun] | |||
* [http://wiki.ros.org/Master Master]: implemented by the [http://wiki.ros.org/rosmaster rosmaster] package, usually started via <code>roscore</code> | * [http://wiki.ros.org/Master Master]: implemented by the [http://wiki.ros.org/rosmaster rosmaster] package, usually started via <code>roscore</code> | ||
==Names== | |||
[http://wiki.ros.org/Names Names] aka graph resource names are unique for each topic, parameter, node, and service in the ros graph. It is a shared namespace; a topic cannot share a name with a node. The [http://wiki.ros.org/ROS/EnvironmentVariables#ROS_NAMESPACE ROS_NAMESPACE] environment variable can be used to scope the ros graph namespace. | |||
==Executables== | |||
* rosrun: launch an executable from a package | |||
* [http://wiki.ros.org/roslaunch roslaunch]: starts collections of nodes specified in a [http://wiki.ros.org/roslaunch/XML launch] XML file | |||
** roscore: roslaunch to start core ros functionality | |||
Revision as of 06:41, 20 February 2019
ROS is a software platform for robotics.
Concepts
- Topic: a named bus on which messages of a single type are published
rostopic listwill list active topics on a running rosmaster
- Package: defined by a directory containing a file package.xml (REP-0127)
- msg/MyMessageType.msg defines messages for the package, published to topics
- srv/MyServiceType.srv defines services for the package, supporting request/reply semnatics
- Node: a named process that performs computation
- A running node has a type and a graph resource name
- A node is typically launched standalone using rosrun
- Master: implemented by the rosmaster package, usually started via
roscore
Names
Names aka graph resource names are unique for each topic, parameter, node, and service in the ros graph. It is a shared namespace; a topic cannot share a name with a node. The ROS_NAMESPACE environment variable can be used to scope the ros graph namespace.
