ROS, or Robot Operating System, is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms. While ROS itself is not an operating system (OS) in the traditional sense—it relies on a Unix-based OS for low-level functionalities—it provides services designed specifically for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. The design of ROS is geared to encourage collaborative robotics software development, for instance, it allows code to be easily shared and distributed.
A distinctive feature of ROS is its modular design. This modularity allows for the reuse of components in different robotic systems, which can significantly accelerate the development process. These components, known as "packages," can be independently developed and are easily integrated with existing ROS frameworks. ROS includes tools to help developers create and manage these packages with minimal effort. Common packages might include functionalities for perception, object identification, motion planning, or even complex grasping algorithms. Each package is designed to perform a specific task and can communicate with other packages, forming a comprehensive system.
ROS also boasts an extensive library of drivers that support many sensors and actuators. These drivers make it easier for developers to integrate hardware without needing to rewrite low-level code, which is a common barrier in robotic system development. The ROS community contributes to a growing database of hardware compatibility, meaning that newly developed sensors and actuators can often be plugged into a ROS system with minimal configuration. This aspect is crucial when developing robots that need to interact with a dynamic environment, where flexibility and adaptability are essential.
Moreover, ROS provides powerful tools for robot simulation. This is particularly valuable as it allows developers to test their algorithms and hardware setups in a virtual environment before actual deployment, reducing the risk and cost associated with physical testing. Tools like Gazebo simulate physical interactions and real-world phenomena, providing realistic scenarios for robots without the need to first build the actual robot. This simulation capability not only helps in testing and development but also serves educational purposes, allowing students and researchers to explore advanced robotic systems and theories without access to expensive hardware. The use of simulation tools and virtual testing grounds highlights the practicality and foresight in ROS development, accommodating both high-end research and entry-level experimentation.