ROS学习(1)--ROS简介

Version	Content	Editor	Date	Remarks
1.0	Finish the installation of ROS and it’s related materials	WilliamYi	10th July, 2017	none
2.0	Summary the outline of ROS(three key levels)	WilliamYi	12th July, 2017	none

Installation

My ROS version is kinetic. And I followed the guide of this website, then installed all the needed materials successfully.

However, I’ve faced a problem when I update rosdep like this:

rosdep update
....
ERROR: error loading sources list:
        ('The read operation timed out',)

I will see it further to see what had happened as I’ve searched the result for a long tiime without any improvement.

I’ve successfully fixed the problem after I reboot my host computer one day after. It must be a contemporary problem caused by my virtual machine or network condition.

ROS Architecture

Outline of ROS Architecture

items	content	remarks
The Filesystem level	concept about the form of ROS, the folder structure, and the neccessary files	none
The Computation Graph level	communicate between processes and systems	none
The Community level	explain the tools and concepts to share code from any developer	none

The Filesystem level

The goal of stacks is to simplify the process of code sharing while the goal of packages is to create minimal collections of code for easy re-use.

The core component consisting Packages:
- Manifest: the basic information of one package
- Messages: Describe the data value such as int, float.
- Services: Describe ROS service type.

The Computation Graph level

The Computation Graph Level mainly concerns about how different computers and processes commnicates with each other.

The Community level

The community level is the place where different users to share codes or ideas.

Attention: The details of the computation graph level and the community level will be discussed later after I’ve slightly mastered it in order to get a better sense.

I’ve successfully run the turtlesim example on my computer. The details concerning nodes, msg, src will be further researched.

THE END.