Episode 018 – ROS: the Robot Operating System

What this episode covers

Mirek and AB give an introduction/primer on ROS – the Robot Operating System – an open-source framework for developing robotic applications. We cover ROS’s modular design, which allows for the separation of tasks and communication between different nodes or components. We touch on topics such as ROS’s messaging system, simulation tools, robot description formats, and the importance of Docker for containerization. We touch on the steep learning curve associated with ROS, the availability of tutorials and community support, and the decision-making process for companies considering whether to adopt ROS or develop their own solutions. Mirek hares his personal journey with ROS, his work on developing a tool for remote robot control and data visualization, and the potential for scaling ROS to handle swarm robotics scenarios. Towards the end, we discuss the recent developments at Boston Dynamics, including the unveiling of the new Atlas robot, and the company’s use of ROS in their projects. We’re also publishing this episode on YouTube, if you’d like to watch along in full living colour: https://youtu.be/Wsw8mDnMGnY Chapters 01:22 Introduction to ROS We introduce ROS (Robot Operating System) as a framework and messaging system for enabling communication between different components of a robot. We highlight that ROS is not a traditional operating system but rather a middleware that facilitates the integration of various hardware and software components. ROS is described as a powerful tool for complex robotic systems, but it comes with a steep learning curve. 04:35 ROS Architecture and Components The discussion delves into the modular architecture of ROS, which allows for the separation of tasks and communication between different nodes or components. Each node can be responsible for a specific functionality, such as reading sensor data, controlling motors, or performing navigation calculations. ROS provides tools for describing the robot’s geometry, simulating environments, and handling communication between nodes using protocols like WebRTC and UDP. 15:57 Learning and Using ROS We talk about the challenges involved in learning and using ROS effectively, including the availability of tutorials, documentation, and community support, but also highlight the variability in the quality of these resources. Mirek shares his personal experience of spending a significant amount of time learning ROS and developing a tool for remote robot control and data visualization using WebRTC and Docker. 34:19 Adoption and Alternatives to ROS The discussion touches on the decision-making process for companies considering whether to adopt ROS or develop their own solutions. While some companies may find ROS too complex and opt for custom solutions, the participants argue that ROS can be beneficial for projects involving iterative hardware changes or complex tasks like navigation and computer vision. We also mention the availability of commercial ROS-like operating systems and the option of writing software from scratch using libraries. 40:18 Boston Dynamics and ROS Towards the end of the discussion, talk turns to the recent developments at Boston Dynamics, including the unveiling of the new Atlas robot with its impressive capabilities. Mirek confirms that Boston Dynamics uses ROS in their projects and provides access to robot models and descriptions for use in simulations. Transcript and Links ABWell, g’day and welcome to SPAITIAL. This is Episode 18 – coming to you from the early part of May. Yes, it’s just been Star Wars Day. Yes, I did wear my Chewbacca suit. That’s a story for a different day. Welcome again. I’m joined here by Mirek Burkon, our robotic expert, mechanical expert. Hey, Mirek, you good? MirekHello, how’s everybody doing? ABGood to see you. Look at th