Robot Operating System Sample Clauses

Robot Operating System. ‌ The Robot Operating System (ROS) consists of a set of open-source software tools and libraries that provide a well-defined communication layer above the host’s operating system [120]. Software created for ROS is organized in packages, which consists of nodes, that communicate with each other via messages, that are sent with topics, and services: • Packages - are the base of any software that can be developed in ROS, being the atomic unit of build and release. They might consist of nodes, other ROS-independent libraries, databases or other software that will be useful in the execution of the package. ROS was designed as such to ensure that each package could be easily used by other developers or users for their use-cases; • Nodes - constitute a computational process, that are intended to run at a granular size. Best practice recommends for each node to fulfil only one role, similar to classes in Object-Oriented Programming (OOP). This approach has been used as it adds fault tolerance to the overall system, as crashes are contained to the scope of each node. One difference from classes in OOP languages is that nodes expose a limited API, as the intended way for them to communicate with other nodes is via topics, services and the Parameter Server; • Messages - are a simple data structure that consist of typed primitives, such as integer, float, boolean etc., as well as arrays of primitive data structure types; • Topics - are identifiable buses that are used for nodes to exchange messages, which were created for streaming information in only one direction. They use the anonymous publisher/subscriber paradigm, as this approach decouples the manner in which messages are created and how they are consumed by other nodes. The overall system works by having nodes that are interested in certain information subscribe to the relevant data, registration registration ROS Node 1 messages ROS Node 2 messages ROS Node n ROS Master messages
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Related to Robot Operating System

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