3. ROS - The Robot Operating System¶
We present a brief summary of ROS, specifically ROS2. It should be noted that this introduction is in no way complete, as it does not convey the sheer power and complexity of ROS/ROS2, and the ways in which it goes about doing so. The reader is strongly encouraged to look at the ROS2 tutorials . ROS2 was in beta for most of 2017 until Ardent was released in Dec 2017. Currently, there is not a significant collection of ROS2 information. ROS (ROS1) does have some good references and there is some overlap in concepts. Because of the size of the install base, ROS1 is not leaving anytime soon. A couple of very good recent texts on ROS are [OKane14] and [QGS15]. For the remainder of this text we will only write “ROS” but unless explicitly stated we will mean ROS2.
It is slightly misleading that ROS includes the phrase operating system in the title. ROS itself is not an operating system in the traditional sense, but it is much more than just a piece of software. The many components combine to form an ecosystem of software which warrants its title but is best thought of as middleware. While on the “not” topic, ROS is not a programming language, not an IDE (integrated development environment) and not just a library of robotics codes.
As mentioned, package management and hardware abstraction are just a couple of features under the ROS umbrella, which support the communication framework around which ROS is based. The intent is to create a universal system which promotes code reuse and sharing among multiple robotic platforms, operating systems, and applications as well as small program footprints and efficient scaling. These pillars form the core goals of ROS as a whole.