Ask Your Question

ROS operating system services, how ?

asked 2016-06-17 09:26:26 -0500

pieter gravatar image

I'm researching how ROS is implementing operating services like: including hardware abstraction, low-level device control, implementation of commonly-used functionality,message-passing between processes and package management. Every where I read something about ROS this is stated in the intro but not explained clearly.

Does anyone now how they are implemented or a good source where I can find more information about this? :)

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-06-19 22:46:42 -0500

Walking through the beginner tutorials ( is a good start for any further research. In my opinion, it will be enough for you to start working on low-level controlling after understanding the architecture of ROS (included in beginner tutorials).

For example , doing serial communication between a Linux machine and your device:

  1. A simple solution is building a publisher and a subscriber.
  2. You will need a serial communication library to do the communication jobs, for example the serial package from William Woodall.
  3. You'd like to know how to install a package, then maybe learning about Git is good (going through chapter 1 to 3 will be enough for a quick start). And you'll find directly cloning the package from GitHub makes it a submodule (don't bother it now, mark it until you come across such problem later).
  4. You might want to develop your own library, like a C++ class. Then it is good to know where to put your header file and source files. A lot of related questions are asked, here is an example.
  5. However you still need to manually link the library with the executable target, by working on the CMakeList.txt file (here and here) and the package.xml file.
  6. Based on the above, search more on the Internet.

Wish this help you.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2016-06-17 09:26:26 -0500

Seen: 108 times

Last updated: Jun 17 '16