Robotics Lecture 2: Robot Programming

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Questions and Answers

What is the topic of the lecture slides?

  • Introduction to programming
  • Artificial intelligence
  • Machine learning
  • Robotics frameworks (correct)

What is the URL mentioned in the lecture slides?

  • <a href="https://www.ros.org">https://www.ros.org</a>
  • <a href="https://www.robots.com">https://www.robots.com</a>
  • <a href="https://arxiv.org/abs/1711.06842">https://arxiv.org/abs/1711.06842</a> (correct)
  • <a href="https://roboticsframeworks.com">https://roboticsframeworks.com</a>

What is the name of the lecture series?

  • INTROBOT
  • ROBOT101
  • COM2009-3009 (correct)
  • ROB101

What is the purpose of the 'LECTURES' Discussion Board?

<p>To ask questions about the lecture (A)</p> Signup and view all the answers

What is the university mentioned in the lecture slides?

<p>The University of Sheffield (C)</p> Signup and view all the answers

What is the purpose of the 'tiny.cc/rate_tom_1' link?

<p>To provide feedback to the lecturer (A)</p> Signup and view all the answers

What is the title of the slide with the question 'Any Questions ?…'?

<p>Slide 17 (D)</p> Signup and view all the answers

What is the topic of the ROS Demo?

<p>Robotics frameworks (B)</p> Signup and view all the answers

What is the purpose of the 'Meet your robot' slide?

<p>To introduce the robot used in the demonstration (D)</p> Signup and view all the answers

What is the copyright year mentioned in the lecture slides?

<p>2022 (B)</p> Signup and view all the answers

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Study Notes

Robot Programming

  • Need for a generalized robot programming platform
  • History of the Robot Operating System (ROS)
  • ROS Basics
  • ROS Demo

Operating System

  • An OS provides standardized interfaces facilitating hardware-agnostic software application
  • OS sits between hardware and user/application

Robotics in the 2000s

  • Birth of the Robot Operating System (ROS)

What is ROS?

  • Open-source pseudo-operating system (sits on top of standard OS)
  • Collection of design/development tools for programming robots (Simulation & visualization tools)
  • Distributed architecture – not just communication between processes but also machines
  • Data Handling and Analysis
  • Language-independent – C++, Python (& Java, Lisp, MATLAB, etc.)
  • Implementation of standard tools, and interfaces to different problems with the intention of re-usability

ROS Overview

  • Key ROS functionality
  • Tools for configuring, starting, introspecting, debugging, visualizing, logging, testing, and stopping distributed computing systems
  • Verified implementations of useful robot functions, focused on manipulation, mobility, and perception
  • Infrastructure designed to support the quick and easy construction of distributed computing systems

ROS Adoption

  • According to ABI Research, roughly 55% of the world's robots will include a ROS package by 2024

ROS Basic Graph Structure

  • ROS Master: handles distributed communications connections, registers and looks up ROS resources
  • ROS Node: a process that performs computation, e.g., obstacle avoidance node adapts motor speed proportionally to Laser Displacement Data
  • ROS Topic: named bus over which nodes exchange messages, asynchronous publish/subscribe model

ROS Limitations

  • ROS 1 limitations: tied to OS development (Ubuntu), no real-time performance guarantee, not suited to multiple robots, assumes good network connectivity & no security, and can be too bloated for small robot applications

Future of ROS

  • ROS 2 promises to address ROS 1 limitations

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