La marobhoti inzvimbo iri kuwedzera. Yakawedzera AI nemarobhoti kutsiva basa revanhu vazhinji. Ndivo varipo uye nezveramangwana, saka zvakakosha kudzidzisa mumhando idzi dzeminda kuti uzive mashandiro avanoita uye kuti ndeapi maturusi nemasisitimu aunawo aunawo kumapurojekiti ako erobhoti. Uye, munyaya ino, iwe uchaona chii chinonzi ROS uye zvese zvaunoda kuziva nezvazvo.
Chii chinonzi ROS?
ROS inomirira Robot Operating System, kana kuti robhoti inoshanda sisitimu. Iyo yepakati yerobhoti, ndiko kuti, muunganidzwa wematanho anoitirwa kufambisa kugadzirwa kwesoftware yemarobhoti. Parizvino, inoshandiswa zvakanyanya mumarobhoti anozivikanwa, kuve chimwe chezvishandiso zvakanakisa zviripo nhasi, zvemahara zvachose, zvakanyorwa muC nePython, uye pasi peBSD yakavhurika sosi rezinesi.
ROS yakatanga kugadzirwa muna 2007, mukati me Stanford Artificial Intelligence Laboratory, uye pasi pezita rekodhi Switchyard. Pakutanga yaizova ye STAIR2 robhoti chirongwa. Mushure meizvi, zvakasarudzwa kuvhura.
Mubvunzo unowanzo bvunzwa nevakawanda ndewekuti, kana isiri sisitimu yekushandisa, sei ichinzi zvakadaro? Zvakanaka, kunyangwe iri sutu yemaraibhurari ekusimudzira, chokwadi ndechekuti inopa mamwe eiyo mabasa akakosha eOS, senge abstraction layer yehardware kuitira kuti vanogadzira vanongonetseka nezve software, kutonga kwezvakasiyana zvikamu zverobhoti padanho rakaderera, kugona kwekutungamira uye kutaurirana kwemaitiro, kuchengetedza mapakeji, nezvimwe.
Raibhurari yakanangidzirwa UNIX masisitimu, seLinux (mune akawanda distros, kunyangwe rutsigiro rwakanyanya ruri rweUbuntu) uye macOS, kunyangwe inoshandawo mune mamwe masisitimu anoshanda seMicrosoft Windows.
Zvakakoshawo kusiyanisa pakati pe zvikamu kubva kuROS:
- ros: ndicho chikamu chinoshanda senge sisitimu yekushandisa, hwaro. Iyi ndiyo BSD ine rezinesi software chikamu. Izvi zvinosanganisira iyo huru yekubatanidza node, data inoyerera (mifananidzo, stereo, laser, control, actuators, kuonana, ...), ruzivo rwekuwedzera, kusikwa uye kuparadzwa kwemanodhi, login, nezvimwe.
- ros-pkg: ndiyo sutu yemapakeji akagadzirwa nevashandisi uye anoita mabasa akadai sekuronga, maonero, simulation, mepu, nzvimbo, nezvimwe. Zvimwe zvikamu izvi zvinopihwa marezinesi akasiyana siyana.
ari zvishandiso zvinosanganisirwa muROS ndivo:
- rviz: yekuenzanisa uye 3D kuona.
- rosbag: kurekodha uye kutamba mameseji ekutaurirana.
- catkin-Gadzira chishandiso, chakavakirwa paCMake.
- rosbash-Package ine maturusi ekuwedzera kushanda kwebash shell.
- roslaunch: kumhanyisa ROS node munharaunda kana kure.
ROS zvikumbiro
ROS ipurojekiti inogara ichikura, uye nguva imwe neimwe inogona kushandiswa mamwe mafomu mukati memunda weAI nemarobhoti, uye nguva yega yega inoita basa rayo zvirinani:
- Artificial perception systems.
- Kuzivikanwa kwezvinhu uye maonero ekugadzira.
- Kuzivikanwa kwechiso, kuzivikanwa kwemaoko, nezvimwe.
- Kuronda chinhu.
- Visual odometry.
- Kunzwisisa kwekufamba.
- Stereo chiratidzo.
- Robhoti kufamba.
- Kudzora.
- Kuronga.
- Kubata zvinhu.
- Kufambisa.
- Testing.
- Etc.
Mienzaniso yemarobhoti anoshandisa ROS
Kune dzakawanda, uye zvingava zvakaoma kuzvinyora zvose, sezvo ROS yave inenge "yakajairwa" kune vakawanda vavo. Asi zvimwe chinonyanya kuzivikanwa Ndizvo:
- PR1: robhoti remunhu rakagadzirwa neKen Salisbury laboratory kuStanford.
- PR2: robhoti remunhu riri kugadzirwa neWillow Garage.
- Baxter: robhoti kubva kuRethink Robotic, Inc.
- Robhoti reMvuri: ruoko rwerobhoti kubva kuShadow Robot kambani, mukubatana naPierre naMarie Curie University yeParis uye Carlos III University yeMadrid. Yakagadzirwa mukati meEuropean framework.
- MAHEMA: yakagadzirwa muCMU mukati meiyo yega marobhoti chirongwa cheIntel corporation.
- Aldebaran Nao-Robhoti yehumanoid yakagadzirwa neHumanoid Robots Labs uye iyo University yeFreiburg.
- Husky UGV: mota yepasi uye yakavhurika sosi.
Sei uchifanira kudzidza neROS?
Marobhoti akaomarara masisitimu uye marobhoti akaoma kunzwisisa. Zvisinei, kuva nematurusi akadai ROS inoita kuti zvive nyore kukudziridza kubva pakutanga, uchimhanyisa kugadzira mapurojekiti ako munguva shoma shoma uye pasina ruzivo rwakawanda sekunge wanga usina.
Mune mamwe mazwi, zvakanakira ROS ndezvekurerutsa nzira yevagadziri, nehuwandu hwemahara uye yakavhurika sosi ekuwedzera, kuti iwe uve nezvose zvaunoda. Uye zvakare, iwe uchadzidza zvinopfuura marobhoti, zvakare zvemagetsi, makanika uye hurongwa:
- Shandisa mitauro yakaita seC ++ nePython kugadzira mapurogiramu.
- Kutonga kwemanetiweki uye masisitimu ekuisa uye kuchengetedza ROS.
- Basic marobhoti pfungwa senge mepu, AI, localization, inverse kinematics, nezvimwewo, kukwanisa kuisa masensa, actuators, controller, nezvimwe.
Hazvina mhosva robhoti yakaoma, neROS zvese zviri nyore. Uye haina kugumira kune imwe mhando yerobhoti, inogona kushanda kubva kumarobhoti emhuka, kune humanoid marobhoti, kuburikidza nemarobhoti maoko eindasitiri ...
Mamwe ruzivo nezveROS - Yepamutemo Webhu