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ROS: An Open-source Robot Operating System

Authors: Morgan Quigley, Brian Gerkey, Ken Conley, Josh Faust, Tully Foote, Jeremy Leibs, Eric Berger, Rob Wheeler, Andrew Ng

Published: 2009 (Workshop Paper)

Source: ICRA Workshop on Open Source Software

Algorithm: ROS

Summary

Introduces ROS as a robotics middleware rather than a traditional OS, emphasizing peer-to-peer communication, tools, language neutrality, and open-source integration. It became the dominant software substrate for academic and applied robotics.

Abstract

This paper gives an overview of ROS, an open-source robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating systems of a heterogeneous compute cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.

Primary

Paper ai.stanford.edu

Alternate

ros.org ros.org

Tags

  • ROS

  • Robot software

  • Middleware

  • Open-source robotics

  • Distributed systems

  • Robot operating system