Robot Operating System (ROS) is a powerful and convenient operating system used in robots, particularly suitable for multi-node systems. In this chapter, we will introduce the basics of ROS, its development history, installation, file system, and communication architecture. In the first chapter, we provide an overview of ROS and the arrival of the robot era. We discuss the development history of ROS and explain what ROS is and how to install it. We also provide a detailed guide on installing ROS using the ROS-Academy-for-Beginners teaching package, as well as the installation of binary and source code packages and RoboWare Studio. Additionally, we cover topics such as unit testing. Moving on to the second chapter, we delve into the ROS file system, covering the Catkin compilation system, Catkin workspaces, package software, the CMakeLists.txt and package.xml files, metapackages, and other common file types. We also provide a comprehensive unit test in this chapter to ensure full understanding of the content. Finally, in the third chapter, we explore the ROS communication architecture, focusing on Node as a fundamental part of the communication framework. We provide in-depth insights into topics such as message passing, services, topics, and parameters, allowing readers to gain a thorough understanding of ROS communication. In conclusion, this chapter provides a comprehensive overview of ROS, covering its introduction, installation, file system, and communication architecture. This knowledge is essential for anyone working with robots and interested in utilizing the ROS operating system.
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