Introduction to ROS

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NOTE: Check out the newer Short course on ROS programming 2020


This talk provides a short introduction to ROS, focusing on the basic concepts fundamental to use ROS from a user perspective. Three basic concepts are introduced: Nodes, Topics, and Services. Then, the specification of message types is covered. The rest of the talk is dedicated to the operationalization of these concepts, covering the creation and management of packages, the programming of nodes that subscribe/publish to nodes and that call/serve services, and some useful command line tools. The Python language is used throughout the examples, although the use of C++ is not significantly different. Finally, some practical aspects, such as Java support, MATLAB binding, and some graphical tools are briefly described.