ROS 개념, 설치법, 기본적인 사용법

1. Getting Started with ROS
: Your First Steps in Robot Programming
Hansol Kang

2. 2
Contents
▪ Introduction to ROS
▪ Installation Guides
▪ Package / Node / Message
▪ Topic / Service / Action
▪ URDF / RViz

3. 3
Introduction to ROS

4. 4
Introduction to ROS
▪ ROS는 운영체제인가?
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▪ Key Features
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5. 5
Introduction to ROS
▪ Distributions as of March 2024
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6. 6
Introduction to ROS
▪ 배포판 별 패키지 다운로드 비율
•
ROS2
About 70%

7. 7
Introduction to ROS
▪ ROS1 Vs. ROS2
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8. 8
Installation Guides
▪ ROS1 – Native Ubuntu or WSL2 (1/6)
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• https://learn.microsoft.com/ko-kr/windows/wsl/install

9. 9
Installation Guides
▪ ROS1 – Native Ubuntu or WSL2 (2/6)
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10. 10
Installation Guides
▪ ROS1 – Native Ubuntu or WSL2 (3/6)
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• https://wiki.ros.org/noetic/Installation/Ubuntu

11. 11
Installation Guides
▪ ROS1 – Native Ubuntu or WSL2 (4/6)
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• https://wiki.ros.org/noetic/Installation/Ubuntu
하
나
만
실
행

12. 12
Installation Guides
▪ ROS1 – Native Ubuntu or WSL2 (5/6)
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• https://wiki.ros.org/noetic/Installation/Ubuntu

13. 13
Installation Guides
▪ ROS1 – Native Ubuntu or WSL2 (6/6)
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• https://wiki.ros.org/noetic/Installation/Ubuntu

14. 14
Installation Guides
▪ ROS1 – Docker (1/3)
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• https://www.docker.com/products/docker-desktop/
• https://hub.docker.com/r/osrf/ros/tags
• https://with-rl.tistory.com/entry/Ubuntu에서-Docker를-이용한-ROS1-ROS2-설치

15. 15
Installation Guides
▪ ROS1 – Docker (2/3)
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• https://www.docker.com/products/docker-desktop/
• https://hub.docker.com/r/osrf/ros/tags
• https://with-rl.tistory.com/entry/Ubuntu에서-Docker를-이용한-ROS1-ROS2-설치

16. 16
Installation Guides
▪ ROS1 – Docker (3/3)
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• https://www.docker.com/products/docker-desktop/
• https://hub.docker.com/r/osrf/ros/tags
• https://with-rl.tistory.com/entry/Ubuntu에서-Docker를-이용한-ROS1-ROS2-설치

17. 17
Installation Guides
▪ ROS2 – Docker (1/2)
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• https://www.docker.com/products/docker-desktop/
• https://hub.docker.com/r/osrf/ros/tags
• https://with-rl.tistory.com/entry/Ubuntu에서-Docker를-이용한-ROS1-ROS2-설치

18. 18
Installation Guides
▪ ROS2 – Docker (2/2)
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• https://www.docker.com/products/docker-desktop/
• https://hub.docker.com/r/osrf/ros/tags
• https://with-rl.tistory.com/entry/Ubuntu에서-Docker를-이용한-ROS1-ROS2-설치

19. 19
Package / Node / Message
▪ Package & Node
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20. 20
Package / Node / Message
▪ Node & Message
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Node A Node C
Node B
Message
Message
Message

21. 21
Topic / Service / Action
▪ Features
Topic Service Action (Service 확장)
조지고
올게!

22. 22
Topic / Service / Action
▪ Topic
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Node A Node C
Node B
Publisher Subscriber
Subscriber
Topic A
Topic B
Node A Node C
Node B
Publisher Subscriber
Subscriber
Publisher
Subscriber
Topic A
Topic B
Topic C
Topic D

23. 23
Topic / Service / Action
▪ Topic Programming
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24. 24
Topic / Service / Action
▪ Topic Programming
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• https://github.com/messy-snail/ros-tutorial.git

25. 25
Topic / Service / Action
▪ Topic Programming
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• https://github.com/messy-snail/ros-tutorial.git

26. 26
Topic / Service / Action
▪ Topic Programming
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[executalbe_name] = [package_name].[file_name(.py는 제외)]:[main_function_name]

27. 27
Topic / Service / Action
▪ Topic Programming
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28. 28
URDF / RViz
▪ URDF
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29. 29
URDF / RViz
▪ RViz
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30. 30
URDF / RViz
▪ Example
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import os 추가해줘야함, 아니면 이렇게 써야함
('share/' + package_name + '/launch', ['launch/my_robot_launch.py']),
('share/' + package_name + '/urdf', ['urdf/my_robot.urdf'])

31. 31
URDF / RViz
▪ Example
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• urdf: https://blog.advenoh.pe.kr/ros/URDF를-이용한-로봇-모델링/

32. 32
References
▪ ROS Official Page: https://www.ros.org
▪ Korean ROS Community: https://oroca.org/
▪ Chat GPT: https://chat.openai.com/
▪ Mahtani, Anil, et al. Effective robotics programming with ROS. Packt Publishing Ltd.
(김종욱. ROS로 효과적인 프로그래밍하기. 홍릉과학출판사.)
▪ 표윤석, 임태훈. ROS2로 시작하는 로봇 프로그래밍. 루비페이퍼
(동일 내용: https://cafe.naver.com/openrt/24070)
▪ Docker: https://www.docker.com/products/docker-desktop/
▪ Docker+ROS: https://hub.docker.com/r/osrf/ros/tags
▪ Docker+ROS: https://with-rl.tistory.com/entry/Ubuntu에서-Docker를-이용한-ROS1-ROS2-설치
▪ ROS1: https://wiki.ros.org/Distributions
▪ ROS2: https://docs.ros.org/en/rolling/Releases.html
▪ WSL: https://learn.microsoft.com/ko-kr/windows/wsl/install
▪ URDF: https://blog.advenoh.pe.kr/ros/URDF를-이용한-로봇-모델링/

33. 33
Appendix – Cheat Sheet
▪ ROS1
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34. 34
Appendix – Cheat Sheet
▪ ROS2
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(노드 이름이 아님. executable에 따라 복수 노드도 실행 가능)