<s>
Robot	B-Application
Operating	I-Application
System	I-Application
(	O
ROS	B-Application
or	O
ros	B-Application
)	O
is	O
an	O
open-source	B-Application
robotics	B-Application
middleware	I-Application
suite	O
.	O
</s>
<s>
Although	O
ROS	B-Application
is	O
not	O
an	O
operating	B-General_Concept
system	I-General_Concept
(	O
OS	B-General_Concept
)	O
but	O
a	O
set	O
of	O
software	B-Architecture
frameworks	I-Architecture
for	O
robot	B-Algorithm
software	O
development	O
,	O
it	O
provides	O
services	O
designed	O
for	O
a	O
heterogeneous	O
computer	B-Architecture
cluster	I-Architecture
such	O
as	O
hardware	B-Operating_System
abstraction	I-Operating_System
,	O
low-level	O
device	B-Application
control	I-Application
,	O
implementation	O
of	O
commonly	O
used	O
functionality	O
,	O
message-passing	B-Operating_System
between	I-Operating_System
processes	I-Operating_System
,	O
and	O
package	O
management	O
.	O
</s>
<s>
Running	O
sets	O
of	O
ROS-based	O
processes	O
are	O
represented	O
in	O
a	O
graph	O
architecture	O
where	O
processing	O
takes	O
place	O
in	O
nodes	O
that	O
may	O
receive	O
,	O
post	O
,	O
and	O
multiplex	B-Architecture
sensor	O
data	O
,	O
control	O
,	O
state	O
,	O
planning	O
,	O
actuator	O
,	O
and	O
other	O
messages	O
.	O
</s>
<s>
Despite	O
the	O
importance	O
of	O
reactivity	O
and	O
low	O
latency	O
in	O
robot	B-Algorithm
control	O
,	O
ROS	B-Application
is	O
not	O
a	O
real-time	B-Operating_System
operating	I-Operating_System
system	I-Operating_System
(	O
RTOS	B-Operating_System
)	O
.	O
</s>
<s>
However	O
,	O
it	O
is	O
possible	O
to	O
integrate	O
ROS	B-Application
with	O
real-time	B-General_Concept
computing	I-General_Concept
code	O
.	O
</s>
<s>
The	O
lack	O
of	O
support	O
for	O
real-time	B-General_Concept
systems	I-General_Concept
has	O
been	O
addressed	O
in	O
the	O
creation	O
of	O
ROS	B-Application
2	O
,	O
a	O
major	O
revision	O
of	O
the	O
ROS	B-Application
API	O
which	O
will	O
take	O
advantage	O
of	O
modern	O
libraries	O
and	O
technologies	O
for	O
core	O
ROS	B-Application
functions	O
and	O
add	O
support	O
for	O
real-time	O
code	O
and	O
embedded	B-Architecture
system	I-Architecture
hardware	O
.	O
</s>
<s>
Software	O
in	O
the	O
ROS	B-Application
Ecosystem	O
can	O
be	O
separated	O
into	O
three	O
groups	O
:	O
</s>
<s>
language-and	O
platform-independent	O
tools	O
used	O
for	O
building	O
and	O
distributing	O
ROS-based	O
software	O
;	O
</s>
<s>
ROS	B-Application
client	O
library	B-Library
implementations	O
such	O
as	O
,	O
,	O
and	O
;	O
</s>
<s>
packages	O
containing	O
application-related	O
code	O
which	O
uses	O
one	O
or	O
more	O
ROS	B-Application
client	O
libraries	O
.	O
</s>
<s>
Both	O
the	O
language-independent	O
tools	O
and	O
the	O
main	O
client	O
libraries	O
(	O
C++	B-Language
,	O
Python	B-Language
,	O
and	O
Lisp	B-Language
)	O
are	O
released	O
under	O
the	O
terms	O
of	O
the	O
BSD	B-Operating_System
license	I-Operating_System
,	O
and	O
as	O
such	O
are	O
open-source	B-Application
software	I-Application
and	O
free	O
for	O
both	O
commercial	O
and	O
research	O
use	O
.	O
</s>
<s>
The	O
majority	O
of	O
other	O
packages	O
are	O
licensed	O
under	O
a	O
variety	O
of	O
open-source	B-Application
licenses	O
.	O
</s>
<s>
These	O
other	O
packages	O
implement	O
commonly	O
used	O
functionality	O
and	O
applications	O
such	O
as	O
hardware	B-Application
drivers	I-Application
,	O
robot	B-Algorithm
models	O
,	O
datatypes	O
,	O
planning	O
,	O
perception	O
,	O
simultaneous	B-Application
localization	I-Application
and	I-Application
mapping	I-Application
,	O
simulation	O
tools	O
,	O
and	O
other	O
algorithms	O
.	O
</s>
<s>
The	O
main	O
ROS	B-Application
client	O
libraries	O
are	O
geared	O
toward	O
a	O
Unix-like	B-Operating_System
system	I-Operating_System
,	O
mostly	O
because	O
of	O
their	O
dependence	O
on	O
large	O
sets	O
of	O
open-source	B-Application
software	I-Application
dependencies	O
.	O
</s>
<s>
For	O
these	O
client	O
libraries	O
,	O
Ubuntu	B-Operating_System
Linux	I-Operating_System
is	O
listed	O
as	O
"	O
Supported	O
"	O
while	O
other	O
variants	O
such	O
as	O
Fedora	O
Linux	B-Application
,	O
macOS	B-Application
,	O
and	O
Microsoft	B-Application
Windows	I-Application
are	O
designated	O
"	O
experimental	O
"	O
and	O
are	O
supported	O
by	O
the	O
community	O
.	O
</s>
<s>
The	O
native	O
Java	O
ROS	B-Application
client	O
library	B-Library
,	O
,	O
however	O
,	O
does	O
not	O
share	O
these	O
limitations	O
and	O
has	O
enabled	O
ROS-based	O
software	O
to	O
be	O
written	O
for	O
the	O
Android	B-Application
OS	I-Application
.	O
</s>
<s>
has	O
also	O
enabled	O
ROS	B-Application
to	O
be	O
integrated	O
into	O
an	O
officially	O
supported	O
MATLAB	B-Language
toolbox	O
which	O
can	O
be	O
used	O
on	O
Linux	B-Application
,	O
macOS	B-Application
,	O
and	O
Microsoft	B-Application
Windows	I-Application
.	O
</s>
<s>
A	O
JavaScript	B-Language
client	O
library	B-Library
,	O
has	O
also	O
been	O
developed	O
which	O
enables	O
integration	O
of	O
software	O
into	O
a	O
ROS	B-Application
system	O
via	O
any	O
standards-compliant	O
web	O
browser	O
.	O
</s>
<s>
Sometime	O
before	O
2007	O
,	O
the	O
first	O
pieces	O
of	O
what	O
eventually	O
would	O
become	O
ROS	B-Application
began	O
coalescing	O
at	O
Stanford	O
University	O
.	O
</s>
<s>
While	O
working	O
on	O
robots	B-Algorithm
to	O
do	O
manipulation	O
tasks	O
in	O
human	O
environments	O
,	O
the	O
two	O
students	O
noticed	O
that	O
many	O
of	O
their	O
colleagues	O
were	O
held	O
back	O
by	O
the	O
diverse	O
nature	O
of	O
robotics	O
:	O
an	O
excellent	O
software	O
developer	O
might	O
not	O
have	O
the	O
hardware	O
knowledge	O
required	O
,	O
someone	O
developing	O
state	O
of	O
the	O
art	O
path	O
planning	O
might	O
not	O
know	O
how	O
to	O
do	O
the	O
computer	O
vision	O
required	O
.	O
</s>
<s>
In	O
their	O
first	O
steps	O
towards	O
this	O
unifying	O
system	O
,	O
the	O
two	O
built	O
the	O
PR1	O
as	O
a	O
hardware	O
prototype	O
and	O
began	O
to	O
work	O
on	O
software	O
from	O
it	O
,	O
borrowing	O
the	O
best	O
practices	O
from	O
other	O
early	O
open-source	B-Application
robotic	O
software	B-Architecture
frameworks	I-Architecture
,	O
particularly	O
switchyard	O
,	O
a	O
system	O
that	O
Morgan	O
Quigley	O
,	O
another	O
Stanford	O
PhD	O
student	O
,	O
had	O
been	O
working	O
on	O
in	O
support	O
of	O
the	O
STanford	O
Artificial	O
Intelligence	O
Robot	B-Algorithm
(	O
STAIR	O
)	O
by	O
the	O
Stanford	O
Artificial	O
Intelligence	O
Laboratory	O
.	O
</s>
<s>
Hassan	O
shared	O
Berger	O
and	O
Wyrobek	O
's	O
vision	O
of	O
a	O
"	O
Linux	B-Application
for	O
robotics	O
"	O
,	O
and	O
invited	O
them	O
to	O
come	O
and	O
work	O
at	O
Willow	O
Garage	O
.	O
</s>
<s>
Willow	O
Garage	O
was	O
started	O
in	O
January	O
2007	O
,	O
and	O
the	O
first	O
commit	O
of	O
ROS	B-Application
code	O
was	O
made	O
to	O
SourceForge	O
on	O
7	O
November	O
2007	O
.	O
</s>
<s>
Willow	O
Garage	O
began	O
developing	O
the	O
PR2	O
robot	B-Algorithm
as	O
a	O
follow-up	O
to	O
the	O
PR1	O
,	O
and	O
ROS	B-Application
as	O
the	O
software	O
to	O
run	O
it	O
.	O
</s>
<s>
Groups	O
from	O
more	O
than	O
twenty	O
institutions	O
made	O
contributions	O
to	O
ROS	B-Application
,	O
both	O
the	O
core	O
software	O
and	O
the	O
growing	O
number	O
of	O
packages	O
which	O
worked	O
with	O
ROS	B-Application
to	O
form	O
a	O
greater	O
software	O
ecosystem	O
.	O
</s>
<s>
That	O
people	O
outside	O
of	O
Willow	O
were	O
contributing	O
to	O
ROS	B-Application
(	O
especially	O
from	O
Stanford	O
's	O
STAIR	O
project	O
)	O
meant	O
that	O
ROS	B-Application
was	O
a	O
multi-robot	O
platform	O
from	O
the	O
start	O
.	O
</s>
<s>
While	O
Willow	O
Garage	O
had	O
originally	O
had	O
other	O
projects	O
in	O
progress	O
,	O
they	O
were	O
scrapped	O
in	O
favor	O
of	O
the	O
Personal	O
Robotics	O
Program	O
:	O
focused	O
on	O
producing	O
the	O
PR2	O
as	O
a	O
research	O
platform	O
for	O
academia	O
and	O
ROS	B-Application
as	O
the	O
open-source	B-Application
robotics	O
stack	O
that	O
would	O
underlie	O
both	O
academic	O
research	O
and	O
tech	O
startups	O
,	O
much	O
like	O
the	O
LAMP	B-Application
stack	I-Application
did	O
for	O
web-based	O
startups	O
.	O
</s>
<s>
Soon	O
after	O
,	O
an	O
early	O
version	O
of	O
ROS	B-Application
(	O
0.4	O
Mango	O
Tango	O
)	O
was	O
released	O
,	O
followed	O
by	O
the	O
first	O
RVIZ	O
documentation	O
and	O
the	O
first	O
paper	O
on	O
ROS	B-Application
.	O
</s>
<s>
This	O
was	O
followed	O
in	O
August	O
by	O
the	O
initiation	O
of	O
the	O
ROS.org	O
website	O
.	O
</s>
<s>
Early	O
tutorials	O
on	O
ROS	B-Application
were	O
posted	O
in	O
December	O
,	O
preparing	O
for	O
the	O
release	O
of	O
ROS	B-Application
1.0	O
,	O
in	O
January	O
2010	O
.	O
</s>
<s>
Following	O
this	O
,	O
Willow	O
Garage	O
achieved	O
one	O
of	O
its	O
longest	O
held	O
goals	O
:	O
giving	O
away	O
10	O
PR2	O
robots	B-Algorithm
to	O
worthy	O
academic	O
institutions	O
.	O
</s>
<s>
This	O
,	O
combined	O
with	O
Willow	O
Garage	O
's	O
highly	O
successful	O
internship	O
program	O
(	O
run	O
from	O
2008	O
to	O
2010	O
by	O
Melonee	O
Wise	O
)	O
,	O
helped	O
to	O
spread	O
the	O
word	O
about	O
ROS	B-Application
throughout	O
the	O
robotics	O
world	O
.	O
</s>
<s>
The	O
first	O
official	O
ROS	B-Application
distribution	O
release	O
:	O
ROS	B-Application
Box	O
Turtle	O
,	O
was	O
released	O
on	O
2	O
March	O
2010	O
,	O
marking	O
the	O
first	O
time	O
that	O
ROS	B-Application
was	O
officially	O
distributed	O
with	O
a	O
set	O
of	O
versioned	O
packages	O
for	O
public	O
use	O
.	O
</s>
<s>
These	O
developments	O
led	O
to	O
the	O
first	O
drone	O
running	O
ROS	B-Application
,	O
the	O
first	O
autonomous	O
car	O
running	O
ROS	B-Application
,	O
and	O
the	O
adaption	O
of	O
ROS	B-Application
for	O
Lego	B-Application
Mindstorms	I-Application
.	O
</s>
<s>
With	O
the	O
PR2	O
Beta	O
program	O
well	O
underway	O
,	O
the	O
PR2	O
robot	B-Algorithm
was	O
officially	O
released	O
for	O
commercial	O
purchase	O
on	O
9	O
September	O
2010	O
.	O
</s>
<s>
2011	O
was	O
a	O
banner	O
year	O
for	O
ROS	B-Application
with	O
the	O
launch	O
of	O
ROS	B-Application
Answers	O
,	O
a	O
Q/A	O
forum	O
for	O
ROS	B-Application
users	O
,	O
on	O
15	O
February	O
;	O
the	O
introduction	O
of	O
the	O
highly	O
successful	O
TurtleBot	B-Application
robot	B-Algorithm
kit	O
on	O
18	O
April	O
;	O
and	O
the	O
total	O
number	O
of	O
ROS	B-Application
repositories	O
passing	O
100	O
on	O
5	O
May	O
.	O
</s>
<s>
Later	O
that	O
year	O
,	O
the	O
first	O
ROSCon	O
was	O
held	O
in	O
St.	O
Paul	O
,	O
Minnesota	O
,	O
the	O
first	O
book	O
on	O
ROS	B-Application
,	O
ROS	B-Application
By	O
Example	O
,	O
was	O
published	O
,	O
and	O
Baxter	O
,	O
the	O
first	O
commercial	O
robot	B-Algorithm
to	O
run	O
ROS	B-Application
,	O
was	O
announced	O
by	O
Rethink	O
Robotics	O
.	O
</s>
<s>
Soon	O
after	O
passing	O
its	O
fifth	O
anniversary	O
in	O
November	O
,	O
ROS	B-Application
began	O
running	O
on	O
every	O
continent	O
on	O
3	O
December	O
2012	O
.	O
</s>
<s>
In	O
February	O
2013	O
,	O
the	O
OSRF	O
became	O
the	O
primary	O
software	O
maintainers	O
for	O
ROS	B-Application
,	O
foreshadowing	O
the	O
announcement	O
in	O
August	O
that	O
Willow	O
Garage	O
would	O
be	O
absorbed	O
by	O
its	O
founders	O
,	O
Suitable	O
Technologies	O
.	O
</s>
<s>
At	O
this	O
point	O
,	O
ROS	B-Application
had	O
released	O
seven	O
major	O
versions	O
(	O
up	O
to	O
ROS	B-Application
Groovy	O
)	O
,	O
and	O
had	O
users	O
all	O
over	O
the	O
globe	O
.	O
</s>
<s>
This	O
chapter	O
of	O
ROS	B-Application
development	O
would	O
be	O
finalized	O
when	O
Clearpath	O
Robotics	O
took	O
over	O
support	O
responsibilities	O
for	O
the	O
PR2	O
in	O
early	O
2014	O
.	O
</s>
<s>
In	O
the	O
years	O
since	O
OSRF	O
took	O
over	O
primary	O
development	O
of	O
ROS	B-Application
,	O
a	O
new	O
version	O
has	O
been	O
released	O
every	O
year	O
,	O
while	O
interest	O
in	O
ROS	B-Application
continues	O
to	O
grow	O
.	O
</s>
<s>
Meetups	O
of	O
ROS	B-Application
developers	O
have	O
been	O
organized	O
in	O
a	O
variety	O
of	O
countries	O
,	O
a	O
number	O
of	O
ROS	B-Application
books	O
have	O
been	O
published	O
,	O
and	O
many	O
educational	O
programs	O
initiated	O
.	O
</s>
<s>
On	O
1	O
September	O
2014	O
,	O
NASA	O
announced	O
the	O
first	O
robot	B-Algorithm
to	O
run	O
ROS	B-Application
in	O
space	O
:	O
Robotnaut	O
2	O
,	O
on	O
the	O
International	O
Space	O
Station	O
.	O
</s>
<s>
Tech	O
giants	O
Amazon	B-Application
and	O
Microsoft	O
began	O
to	O
take	O
an	O
interest	O
in	O
ROS	B-Application
during	O
this	O
time	O
,	O
with	O
Microsoft	O
porting	O
core	O
ROS	B-Application
to	O
Windows	O
in	O
September	O
2018	O
,	O
followed	O
by	O
Amazon	B-Application
Web	O
Services	O
releasing	O
RoboMaker	O
in	O
November	O
2018	O
.	O
</s>
<s>
Perhaps	O
the	O
most	O
important	O
development	O
of	O
the	O
OSRF/Open	O
Robotics	O
years	O
thus	O
far	O
(	O
not	O
to	O
discount	O
the	O
explosion	O
of	O
robot	B-Algorithm
platforms	O
which	O
began	O
to	O
support	O
ROS	B-Application
or	O
the	O
enormous	O
improvements	O
in	O
each	O
ROS	B-Application
version	O
)	O
was	O
the	O
proposal	O
of	O
ROS	B-Application
2	O
,	O
a	O
significant	O
API	O
change	O
to	O
ROS	B-Application
which	O
is	O
intended	O
to	O
support	O
real-time	B-General_Concept
programming	I-General_Concept
,	O
a	O
wider	O
variety	O
of	O
computing	O
environments	O
,	O
and	O
more	O
modern	O
technology	O
.	O
</s>
<s>
ROS	B-Application
2	O
was	O
announced	O
at	O
ROSCon	O
2014	O
,	O
the	O
first	O
commits	O
to	O
the	O
repository	O
were	O
made	O
in	O
February	O
2015	O
,	O
followed	O
by	O
alpha	O
releases	O
in	O
August	O
2015	O
.	O
</s>
<s>
The	O
first	O
distribution	O
release	O
of	O
ROS	B-Application
2	O
,	O
Ardent	O
Apalone	O
,	O
was	O
released	O
on	O
8	O
December	O
2017	O
,	O
ushering	O
in	O
a	O
new	O
era	O
of	O
next-generation	O
ROS	B-Application
development	O
.	O
</s>
<s>
ROS	B-Application
was	O
designed	O
to	O
be	O
open	O
source	O
,	O
intending	O
that	O
users	O
would	O
be	O
able	O
to	O
choose	O
the	O
configuration	O
of	O
tools	O
and	O
libraries	O
which	O
interacted	O
with	O
the	O
core	O
of	O
ROS	B-Application
so	O
that	O
users	O
could	O
shift	O
their	O
software	O
stacks	O
to	O
fit	O
their	O
robot	B-Algorithm
and	O
application	O
area	O
.	O
</s>
<s>
As	O
such	O
,	O
there	O
is	O
very	O
little	O
which	O
is	O
core	O
to	O
ROS	B-Application
,	O
beyond	O
the	O
general	O
structure	O
within	O
which	O
programs	O
must	O
exist	O
and	O
communicate	O
.	O
</s>
<s>
In	O
one	O
sense	O
,	O
ROS	B-Application
is	O
the	O
underlying	O
plumbing	O
behind	O
nodes	O
and	O
message	O
passing	O
.	O
</s>
<s>
However	O
,	O
in	O
reality	O
,	O
ROS	B-Application
is	O
not	O
only	O
that	O
plumbing	O
,	O
but	O
a	O
rich	O
and	O
mature	O
set	O
of	O
tools	O
,	O
a	O
wide-ranging	O
set	O
of	O
robot-agnostic	O
abilities	O
provided	O
by	O
packages	O
,	O
and	O
a	O
greater	O
ecosystem	O
of	O
additions	O
to	O
ROS	B-Application
.	O
</s>
<s>
ROS	B-Application
processes	O
are	O
represented	O
as	O
nodes	O
in	O
a	O
graph	O
structure	O
,	O
connected	O
by	O
edges	O
called	O
topics	O
.	O
</s>
<s>
ROS	B-Application
nodes	O
can	O
pass	O
messages	O
to	O
one	O
another	O
through	O
topics	O
,	O
make	O
service	O
calls	O
to	O
other	O
nodes	O
,	O
provide	O
a	O
service	O
for	O
other	O
nodes	O
,	O
or	O
set	O
or	O
retrieve	O
shared	O
data	O
from	O
a	O
communal	O
database	O
called	O
the	O
parameter	O
server	O
.	O
</s>
<s>
A	O
process	O
called	O
the	O
ROS	B-Application
Master	O
makes	O
all	O
of	O
this	O
possible	O
by	O
registering	O
nodes	O
to	O
itself	O
,	O
setting	O
up	O
node-to-node	O
communication	O
for	O
topics	O
,	O
and	O
controlling	O
parameter	O
server	O
updates	O
.	O
</s>
<s>
This	O
decentralized	O
architecture	O
lends	O
itself	O
well	O
to	O
robots	B-Algorithm
,	O
which	O
often	O
consist	O
of	O
a	O
subset	O
of	O
networked	O
computer	O
hardware	O
,	O
and	O
may	O
communicate	O
with	O
off-board	O
computers	O
for	O
heavy	O
computing	O
or	O
commands	O
.	O
</s>
<s>
A	O
node	O
represents	O
one	O
process	O
running	O
the	O
ROS	B-Application
graph	O
.	O
</s>
<s>
Every	O
node	O
has	O
a	O
name	O
,	O
which	O
it	O
registers	O
with	O
the	O
ROS	B-Application
master	O
before	O
it	O
can	O
take	O
any	O
other	O
actions	O
.	O
</s>
<s>
Nodes	O
are	O
at	O
the	O
center	O
of	O
ROS	B-Application
programming	O
,	O
as	O
most	O
ROS	B-Application
client	O
code	O
is	O
in	O
the	O
form	O
of	O
a	O
ROS	B-Application
node	O
which	O
takes	O
actions	O
based	O
on	O
information	O
received	O
from	O
other	O
nodes	O
,	O
sends	O
information	O
to	O
other	O
nodes	O
,	O
or	O
sends	O
and	O
receives	O
requests	O
for	O
actions	O
to	O
and	O
from	O
other	O
nodes	O
.	O
</s>
<s>
Topics	O
are	O
named	O
buses	B-Architecture
over	O
which	O
nodes	O
send	O
and	O
receive	O
messages	O
.	O
</s>
<s>
Data	O
which	O
does	O
not	O
change	O
frequently	O
and	O
as	O
such	O
will	O
be	O
infrequently	O
accessed	O
,	O
such	O
as	O
the	O
distance	O
between	O
two	O
fixed	O
points	O
in	O
the	O
environment	O
,	O
or	O
the	O
weight	O
of	O
the	O
robot	B-Algorithm
,	O
are	O
good	O
candidates	O
for	O
storage	O
in	O
the	O
parameter	O
server	O
.	O
</s>
<s>
ROS	B-Application
's	O
core	O
functionality	O
is	O
augmented	O
by	O
a	O
variety	O
of	O
tools	O
which	O
allow	O
developers	O
to	O
visualize	O
and	O
record	O
data	O
,	O
easily	O
navigate	O
the	O
ROS	B-Application
package	O
structures	O
,	O
and	O
create	O
scripts	O
automating	O
complex	O
configuration	O
and	O
setup	O
processes	O
.	O
</s>
<s>
The	O
addition	O
of	O
these	O
tools	O
greatly	O
increases	O
the	O
abilities	O
of	O
systems	O
using	O
ROS	B-Application
by	O
simplifying	O
and	O
providing	O
solutions	O
to	O
a	O
number	O
of	O
common	O
robotics	O
development	O
problems	O
.	O
</s>
<s>
These	O
tools	O
are	O
provided	O
in	O
packages	O
like	O
any	O
other	O
algorithm	O
,	O
but	O
rather	O
than	O
providing	O
implementations	O
of	O
hardware	B-Application
drivers	I-Application
or	O
algorithms	O
for	O
various	O
robotic	O
tasks	O
,	O
these	O
packages	O
provide	O
task	O
and	O
robot-agnostic	O
tools	O
which	O
come	O
with	O
the	O
core	O
of	O
most	O
modern	O
ROS	B-Application
installations	O
.	O
</s>
<s>
is	O
a	O
three-dimensional	O
visualizer	O
used	O
to	O
visualize	O
robots	B-Algorithm
,	O
the	O
environments	O
they	O
work	O
in	O
,	O
and	O
sensor	O
data	O
.	O
</s>
<s>
is	O
a	O
command	O
line	O
tool	O
used	O
to	O
record	O
and	O
playback	O
ROS	B-Application
message	O
data	O
.	O
</s>
<s>
uses	O
a	O
file	O
format	O
called	O
bags	O
,	O
which	O
log	O
ROS	B-Application
messages	O
by	O
listening	O
to	O
topics	O
and	O
recording	O
messages	O
as	O
they	O
come	O
in	O
.	O
</s>
<s>
Playing	O
messages	O
back	O
from	O
a	O
bag	O
is	O
largely	O
the	O
same	O
as	O
having	O
the	O
original	O
nodes	O
which	O
produced	O
the	O
data	O
in	O
the	O
ROS	B-Application
computation	O
graph	O
,	O
making	O
bags	O
a	O
useful	O
tool	O
for	O
recording	O
data	O
to	O
be	O
used	O
in	O
later	O
development	O
.	O
</s>
<s>
catkin	O
is	O
the	O
ROS	B-Application
build	O
system	O
,	O
having	O
replaced	O
as	O
of	O
ROS	B-Application
Groovy	O
.	O
</s>
<s>
catkin	O
is	O
based	O
on	O
CMake	B-Language
,	O
and	O
is	O
similarly	O
cross-platform	O
,	O
open-source	B-Application
,	O
and	O
language-independent	O
.	O
</s>
<s>
The	O
package	O
provides	O
a	O
suite	O
of	O
tools	O
which	O
augment	O
the	O
functionality	O
of	O
the	O
bash	B-Operating_System
shell	I-Operating_System
.	O
</s>
<s>
These	O
tools	O
include	O
,	O
,	O
and	O
,	O
which	O
replicate	O
the	O
functionalities	O
of	O
ls	B-Application
,	O
cd	B-Application
,	O
and	O
cp	B-Application
respectively	O
.	O
</s>
<s>
The	O
ROS	B-Application
versions	O
of	O
these	O
tools	O
allow	O
users	O
to	O
use	O
package	O
names	O
in	O
place	O
of	O
the	O
file	O
path	O
where	O
the	O
package	O
is	O
located	O
.	O
</s>
<s>
The	O
package	O
also	O
adds	O
tab-completion	O
to	O
most	O
ROS	B-Application
utilities	O
,	O
and	O
includes	O
rosed	O
,	O
which	O
edits	O
a	O
given	O
file	O
with	O
the	O
chosen	O
default	O
text	O
editor	O
,	O
as	O
well	O
,	O
which	O
runs	O
executables	O
in	O
ROS	B-Application
packages	O
.	O
</s>
<s>
supports	O
the	O
same	O
functionalities	O
for	O
zsh	B-Application
and	O
tcsh	B-Language
,	O
to	O
a	O
lesser	O
extent	O
.	O
</s>
<s>
is	O
a	O
tool	O
used	O
to	O
launch	O
multiple	O
ROS	B-Application
nodes	O
both	O
locally	O
and	O
remotely	O
,	O
as	O
well	O
as	O
setting	O
parameters	O
on	O
the	O
ROS	B-Application
parameter	O
server	O
.	O
</s>
<s>
configuration	O
files	O
,	O
which	O
are	O
written	O
using	O
XML	B-Protocol
can	O
easily	O
automate	O
a	O
complex	O
startup	O
and	O
configuration	O
process	O
into	O
a	O
single	O
command	O
.	O
</s>
<s>
ROS	B-Application
contains	O
many	O
open-source	B-Application
implementations	O
of	O
common	O
robotics	O
functionality	O
and	O
algorithms	O
.	O
</s>
<s>
These	O
open-source	B-Application
implementations	O
are	O
organized	O
into	O
packages	O
.	O
</s>
<s>
Many	O
packages	O
are	O
included	O
as	O
part	O
of	O
ROS	B-Application
distributions	O
,	O
while	O
others	O
may	O
be	O
developed	O
by	O
individuals	O
and	O
distributed	O
through	O
code	O
sharing	O
sites	O
such	O
as	O
.	O
</s>
<s>
provides	O
a	O
JSON	O
API	O
to	O
ROS	B-Application
functionalities	O
for	O
non-ROS	O
programs	O
.	O
</s>
<s>
provides	O
a	O
wrapper	O
for	O
OpenSlam	O
's	O
Gmapping	O
algorithm	O
for	O
simultaneous	B-Application
localization	I-Application
and	I-Application
mapping	I-Application
.	O
</s>
<s>
cartographer	O
provides	O
real	O
time	O
2D	O
and	O
3D	O
SLAM	O
algorithms	O
developed	O
at	O
Google	B-Application
.	I-Application
</s>
<s>
provides	O
an	O
implementation	O
of	O
adaptive	B-Algorithm
Monte-Carlo	I-Algorithm
localization	I-Algorithm
.	I-Algorithm
</s>
<s>
navigation	O
provides	O
the	O
capability	O
of	O
navigating	O
a	O
mobile	O
robot	B-Algorithm
in	O
a	O
planar	O
environment	O
.	O
</s>
<s>
is	O
a	O
meta-package	O
which	O
provides	O
packages	O
for	O
integrating	O
ROS	B-Application
with	O
OpenCV	B-Language
.	O
</s>
<s>
provided	O
a	O
system	O
for	O
representing	O
,	O
tracking	O
and	O
transforming	O
coordinate	O
frames	O
until	O
ROS	B-Application
Hydro	O
,	O
when	O
it	O
was	O
deprecated	O
in	O
favor	O
of	O
.	O
</s>
<s>
is	O
the	O
second	O
generation	O
of	O
the	O
library	B-Library
,	O
and	O
provides	O
the	O
same	O
abilities	O
for	O
ROS	B-Application
versions	O
after	O
Hydro	O
.	O
</s>
<s>
is	O
a	O
meta-package	O
which	O
provides	O
packages	O
for	O
integrating	O
ROS	B-Application
with	O
the	O
Gazebo	B-Language
simulator	I-Language
.	O
</s>
<s>
stage	B-Application
provides	O
an	O
interface	O
for	O
the	O
2D	O
Stage	B-Application
simulator	O
.	O
</s>
<s>
ROS	B-Application
releases	O
may	O
be	O
incompatible	O
with	O
other	O
releases	O
and	O
are	O
often	O
referred	O
to	O
by	O
code	O
name	O
rather	O
than	O
version	O
number	O
.	O
</s>
<s>
ROS	B-Application
currently	O
releases	O
a	O
version	O
every	O
year	O
in	O
May	O
,	O
following	O
the	O
release	O
of	O
Ubuntu	B-Operating_System
LTS	I-Operating_System
versions	O
.	O
</s>
<s>
ROS	B-Application
2	O
currently	O
releases	O
a	O
new	O
version	O
every	O
six	O
months	O
(	O
in	O
December	O
and	O
July	O
)	O
.	O
</s>
<s>
There	O
are	O
currently	O
two	O
active	O
major	O
versions	O
seeing	O
releases	O
:	O
ROS	B-Application
1	O
and	O
ROS	B-Application
2	O
.	O
</s>
<s>
Aside	O
to	O
this	O
there	O
is	O
the	O
ROS-Industrial	O
or	O
ROS-I	O
derivate	O
project	O
since	O
at	O
least	O
2012	O
.	O
</s>
<s>
+ROS	O
2	O
Distribution	O
Releases	O
Distribution	O
Release	O
date	O
Poster	O
EOL	O
date	O
Support	O
durationRolling	O
Ridley(rolling release with latest features )	O
progressing	O
sinceJune	O
2020(unknown )	O
N/AN/A	O
( J	O
Turtle	O
)	O
May	O
2024t.b.d.5	O
yearsIron	O
IrwiniMay	O
2023t.b.d.1.5	O
yearsHumble	O
Hawksbill23	O
May	O
202275px|The	O
release	O
poster	O
for	O
ROS	B-Application
2	O
Humble	O
Hawksbill.5	O
yearsGalactic	O
Geochelone23	O
May	O
202175px|The	O
release	O
poster	O
for	O
ROS	B-Application
2	O
Galactic	O
Geochelone.1.5	O
yearsFoxy	O
Fitzroy5	O
June	O
202075px|The	O
logo	O
for	O
the	O
ROS	B-Application
2	O
release	O
Foxy	O
Fitzroy.3	O
yearsEloquent	O
Elusor22	O
November	O
201975px|The	O
logo	O
for	O
the	O
ROS	B-Application
2	O
release	O
Eloquent	O
Elusor.1	O
yearDashing	O
Diademata31	O
May	O
201975px|The	O
logo	O
for	O
the	O
ROS	B-Application
2	O
release	O
Dashing	O
Diademata.2	O
yearsCrystal	O
Clemmys14	O
December	O
201875px|The	O
logo	O
for	O
the	O
ROS	B-Application
2	O
release	O
Crystal	O
Clemmys.1	O
yearBouncy	O
Bolson2	O
July	O
201875px|The	O
logo	O
for	O
the	O
ROS	B-Application
2	O
release	O
Bouncy	O
Bolson.1	O
yearArdent	O
Apalone8	O
December	O
201775px|The	O
logo	O
for	O
the	O
ROS	B-Application
2	O
release	O
Ardent	O
Apalone.1	O
yearbeta313	O
September	O
2017N/A4	O
monthsbeta25	O
July	O
2017N/A2	O
monthsbeta119	O
December	O
2016N/A7	O
months(ROS 2 real-time proposal )	O
7	O
January	O
2016N/AN/AN/Aalpha1	O
(	O
Anchor	O
)	O
-alpha8	O
(	O
Hook-and-Loop	O
)	O
31	O
August	O
2015	O
-5	O
October	O
2016N/Atotal	O
:	O
16	O
months( 	O
"	O
Why	O
ROS	B-Application
2	O
?	O
</s>
<s>
ROS-Industrial	O
is	O
an	O
open-source	B-Application
project	O
(	O
BSD	O
(	O
legacy	O
)	O
/Apache	O
2.0	O
(	O
preferred	O
)	O
license	O
)	O
that	O
extends	O
the	O
advanced	O
abilities	O
of	O
ROS	B-Application
to	O
manufacturing	O
automation	O
and	O
robotics	O
.	O
</s>
<s>
In	O
the	O
industrial	O
environment	O
,	O
there	O
are	O
two	O
different	O
approaches	O
to	O
programming	O
a	O
robot	B-Algorithm
:	O
either	O
through	O
an	O
external	O
proprietary	O
controller	O
,	O
typically	O
implemented	O
using	O
ROS	B-Application
,	O
or	O
via	O
the	O
respective	O
native	O
programming	O
language	O
of	O
the	O
robot	B-Algorithm
.	O
</s>
<s>
ROS	B-Application
can	O
therefore	O
be	O
seen	O
as	O
the	O
software-based	O
approach	O
to	O
program	O
industrial	O
robots	B-Algorithm
instead	O
of	O
the	O
classic	O
robot	B-Algorithm
controller-based	O
approach	O
.	O
</s>
<s>
The	O
ROS-Industrial	O
repository	O
includes	O
interfaces	O
for	O
common	O
industrial	O
manipulators	O
,	O
grippers	O
,	O
sensors	O
,	O
and	O
device	O
networks	O
.	O
</s>
<s>
It	O
also	O
provides	O
software	B-Library
libraries	I-Library
for	O
automatic	O
2D/3D	O
sensor	O
calibration	O
,	O
process	O
path/motion	O
planning	O
,	O
applications	O
like	O
Scan-N-Plan	O
,	O
developer	O
tools	O
like	O
the	O
Qt	O
Creator	O
ROS	B-Application
Plugin	O
,	O
and	O
training	O
curriculum	O
that	O
is	O
specific	O
to	O
the	O
needs	O
of	O
manufacturers	O
.	O
</s>
<s>
ROS-I	O
is	O
supported	O
by	O
an	O
international	O
Consortium	O
of	O
industry	O
and	O
research	O
members	O
.	O
</s>
<s>
The	O
project	O
began	O
as	O
a	O
collaborative	O
endeavor	O
between	O
Yaskawa	O
Motoman	O
Robotics	O
,	O
Southwest	O
Research	O
Institute	O
,	O
and	O
Willow	O
Garage	O
to	O
support	O
the	O
use	O
of	O
ROS	B-Application
for	O
manufacturing	O
automation	O
,	O
with	O
the	O
GitHub	B-Application
repository	O
being	O
founded	O
in	O
January	O
2012	O
by	O
Shaun	O
Edwards	O
(	O
SwRI	O
)	O
.	O
</s>
<s>
Currently	O
,	O
the	O
Consortium	O
is	O
divided	O
into	O
three	O
groups	O
;	O
the	O
ROS-Industrial	O
Consortium	O
Americas	O
(	O
led	O
by	O
SwRI	O
and	O
located	O
in	O
San	O
Antonio	O
,	O
Texas	O
)	O
,	O
the	O
ROS-Industrial	O
Consortium	O
Europe	O
(	O
led	O
by	O
Fraunhofer	O
IPA	O
and	O
located	O
in	O
Stuttgart	O
,	O
Germany	O
)	O
and	O
the	O
ROS-Industrial	O
Consortium	O
Asia	O
Pacific	O
(	O
led	O
by	O
Advanced	O
Remanufacturing	O
and	O
Technology	O
Centre	O
(	O
ARTC	O
)	O
and	O
Nanyang	O
Technological	O
University	O
(	O
NTU	O
)	O
and	O
located	O
in	O
Singapore	O
)	O
.	O
</s>
<s>
The	O
Consortia	O
supports	O
the	O
global	O
ROS-Industrial	O
community	O
by	O
conducting	O
ROS-I	O
training	O
,	O
providing	O
technical	O
support	O
and	O
setting	O
the	O
future	O
roadmap	O
for	O
ROS-I	O
,	O
as	O
well	O
as	O
conducting	O
precompetitive	O
joint	O
industry	O
projects	O
to	O
develop	O
new	O
ROS-I	O
abilities	O
.	O
</s>
<s>
ABB	O
,	O
Adept	O
,	O
Fanuc	O
,	O
Motoman	O
,	O
and	O
Universal	O
Robots	B-Algorithm
are	O
supported	O
by	O
ROS-Industrial	O
.	O
</s>
<s>
CK-9	O
:	O
robotics	O
development	O
kit	O
by	O
Centauri	O
Robotics	O
,	O
supports	O
ROS	B-Application
.	O
</s>
<s>
Shadow	O
Robot	B-Algorithm
Hand	O
:	O
a	O
fully	O
dexterous	O
humanoid	O
hand	O
.	O
</s>
<s>
SummitXL	O
:	O
mobile	O
robot	B-Algorithm
developed	O
by	O
Robotnik	O
,	O
an	O
engineering	O
company	O
specialized	O
in	O
mobile	O
robots	B-Algorithm
,	O
robotic	O
arms	O
,	O
and	O
industrial	O
solutions	O
with	O
ROS	B-Application
architecture	O
.	O
</s>
<s>
Webots	B-Application
:	O
robot	B-Algorithm
simulator	O
integrating	O
a	O
complete	O
ROS	B-Application
programming	O
interface	O
.	O
</s>
<s>
GoPiGo3	O
:	O
Raspberry	O
Pi-based	O
educational	O
robot	B-Algorithm
,	O
supports	O
ROS	B-Application
.	O
</s>
<s>
BeagleBoard	B-Application
:	O
the	O
robotics	O
lab	O
of	O
the	O
Katholieke	O
Universiteit	O
Leuven	O
,	O
Belgium	O
has	O
ported	O
ROS	B-Application
to	O
the	O
Beagleboard	B-Application
.	O
</s>
<s>
Sitara	B-Device
ARM	I-Device
Processors	I-Device
have	O
support	O
for	O
the	O
ROS	B-Application
package	O
as	O
part	O
of	O
the	O
official	O
Linux	B-Application
SDK	O
.	O
</s>
<s>
Raspberry	O
Pi	O
:	O
image	O
of	O
Ubuntu	B-Operating_System
Mate	O
with	O
ROS	B-Application
by	O
Ubiquity	O
Robotics	O
;	O
installation	O
guide	O
for	O
Raspbian	O
.	O
</s>
