Introduction to the Robot Operating System - ROS Middleware

Explore the Robot Operating System (ROS) middleware in this comprehensive 57-minute talk by Mike Anderson from The PTR Group, Inc. Gain insights into ROS's extensive features, large user community, and significant ecosystem supporting sophisticated robotics platform development. Learn about ROS installation on Linux systems and its application in creating small mobile robotic platforms. Delve into core ROS components, concepts, filesystem specifics, computation graph levels, naming structures, and name resolution. Discover how to describe robots using URDF and build a basic chassis through practical examples. Examine the process of creating packages, launch files, and implementing wheels. Get hands-on experience with Gazebo and explore publisher/subscriber patterns. Perfect for robotics enthusiasts, developers, and anyone interested in advanced middleware for robotic applications.

Intro
What We Will Talk About...
What is ROS?
History and legacy
Installing ROS
Next Steps
Testing the Installation with a simple build
Core ROS Components
ROS Concepts 12
Filesystem Specifics
Computation Graph Level
Naming Structure
Name Resolution
Describing Robots in URDF
Example: Building a Basic Chassis
A Simple Box in URDF
Create the Package
Create the launch File
Box with Wheels!
Gazebo
Example Pub/Sub
Summary