La Robotku waa goob sii fidaysa. Aad iyo aad u badan AI iyo robots ayaa beddelaya shaqada dad badan. Waxay yihiin kuwa hadda jira iyo kuwa mustaqbalka, markaa waa muhiim in lagu tababaro noocyadan beeraha si aad u ogaato sida ay u shaqeeyaan iyo qalabka iyo nidaamyada aad u haysato mashaariicdaada robotics. Iyo, in this article, waxaad arki doontaa waa maxay ROS iyo wax kasta oo aad u baahan tahay inaad ka ogaato.
Waa maxay ROS?
ROS waxay u taagan tahay Nidaamka hawlgalka Robot, ama nidaamka hawlgalka ee robot. Waa qalab dhexdhexaad ah oo loogu talagalay robotics, taas oo ah, ururinta qaab-dhismeedka loogu talagalay in lagu fududeeyo horumarinta software-ka ee robots. Waqtigan xaadirka ah, waxaa si weyn loogu adeegsadaa robots-yada caanka ah, isagoo ah mid ka mid ah aaladaha ugu wanaagsan ee maanta la heli karo, oo gebi ahaanba bilaash ah, oo ku qoran C iyo Python, oo hoos imaanaya shatiga isha furan ee BSD.
ROS waxaa asal ahaan la sameeyay 2007, gudaha Shaybaadhka Sirdoonka Artificial Stanford, oo hoos timaada nambarka 'Switchyard'. Markii hore waxay noqon doontaa mashruuca STAIR2 robot. Intaa ka dib, waxaa la go'aamiyay in la furo.
Su’aasha inta badan la is weydiiyo ayaa ah, haddii aysan ahayn nidaamka hawlgalka, maxaa loo bixiyay? Hagaag, in kasta oo ay tahay qayb ka mid ah maktabadaha horumarinta, runtu waxay tahay in ay bixiso qaar ka mid ah hawlaha muhiimka ah ee OS ah, sida lakabka abstraction ee qalabka si ay horumariyayaashu kaliya uga welwelaan software-ka, xakamaynta qaybaha kala duwan ee robot-ka heer hoose, awoodda maaraynta iyo isgaarsiinta hababka, dayactirka xirmooyinka, iwm.
Maktabadu waxay u jihaysan tahay Nidaamyada UNIX, sida Linux (oo ku yaal dhowr distros, in kasta oo taageerada ugu fiican ay tahay Ubuntu) iyo macOS, in kasta oo ay sidoo kale ka shaqeyso nidaamyada kale ee hawlgalka sida Microsoft Windows.
Waxa kale oo muhiim ah in la kala saaro inta u dhaxaysa partes ka ROS:
- ros: waa qaybta u shaqeysa sida nidaamka hawlgalka, saldhigga. Tani waa qaybta software-ka shatiga BSD. Tan waxaa ka mid ah noodhka isuduwidda ugu weyn, qulqulka xogta (sawirrada, stereo, laser, control, actuators, contact, ...), isku dhufashada macluumaadka, abuurista iyo burburinta noodhka, gelitaanka, iwm.
- ros-pkg: waa qaybta xidhmooyinka ay abuureen isticmaalayaashu oo hirgeliya hawlqabadyo ay ka mid yihiin qorshaynta, aragtida, jilidda, khariidaynta, goobta, iwm. Qaybahan kale waxay ku shatiyeysan yihiin shatiyo kala duwan.
ka qalab ka mid ahaa ROS waxay kala yihiin:
- rviz: jilitaanka iyo muuqaalka 3D.
- rosbag: in la duubo oo la ciyaaro fariimaha isgaarsiinta.
- bisad- Qalab dhis, oo ku salaysan CMake.
- rosbash- Xidhmada qalabka si loo kordhiyo shaqeynta qolofka bash.
- roslaunch: si aad u socodsiiso qanjidhada ROS meel ahaan ama meel fog.
Codsiyada ROS
ROS waa mashruuc ku jira horumar joogto ah, mar kastana waa la isticmaali karaa codsiyo badan gudaha gudaha AI iyo robotics, iyo mar kasta shaqadeeda si fiican ayey u qabataa:
- Nidaamyada aragtida macmal ah.
- Aqoonsiga walxaha iyo aragga macmalka ah.
- Aqoonsiga wajiga, aqoonsiga tilmaanta, iwm.
- Dabagalka shayga.
- Aragga odometry.
- Fahamka dhaqdhaqaaqa.
- Aragtida Stereo.
- Dhaqdhaqaaqa Robot.
- Xakamaynta.
- Qorshaynta.
- Walxaha qabsada.
- Isuduwidda.
- Tijaabinaya.
- IWM
Tusaalooyinka robot-yada isticmaalaya ROS
Way badan yihiin, wayna adkaan doontaa in la wada liis gareeyo, mar haddii ROS ay u noqotay ku dhawaad "standard" qaar badan oo iyaga ka mid ah. Laakiin qaar ka mid ah ugu caansan Waxay yihiin:
- PR1Robot shakhsi ah oo uu sameeyay shaybaadhka Ken Salisbury ee Stanford.
- PR2Robot shakhsi ah oo uu soo saaray Garage Willow.
- Baxter: Robot ka yimid Rethink Robotics, Inc.
- Robotka hadhku: gacan Robot ah oo ka timid shirkadda Shadow Robot, iyadoo la kaashanaysa Pierre iyo Marie Curie University of Paris iyo Carlos III University of Madrid. Lagu soo saaray qaab-dhismeedka Yurub.
- Herb: laga dhex abuuray CMU gudaha barnaamijka robotka shaqsiyeed ee shirkada Intel.
- Aldebaran Nao- Robot bini'aadam ah oo ay sameeyeen Humanoid Robots Labs iyo Jaamacadda Freiburg.
- Husky UGV: baabuur dhulka ah iyo il furan.
Maxaad ugu baahan tahay inaad wax ku barato ROS?
Robot-yadu waa habab adag oo robotiyadu way adagtahay in la fahmo. Si kastaba ha ahaatee, haysashada qalab sida ROS waxa ay aad u fududaynaysaa in laga soo bilaabo eber, aad ku dardargelinayso abuurista mashaariic aad adigu leedahay waqti aad u yar, aqoon la'aanna aad mooddo in aanad haysan.
Si kale haddii loo dhigo, faa'iidooyinka ROS waa in loo fududeeyo horumarinta, iyada oo la adeegsanayo tiro badan oo bilaash ah oo il furan, si aad u hesho wax kasta oo aad u baahan tahay. Intaa waxaa dheer, waxaad baran doontaa wax ka badan robotics, sidoo kale elektarooniga, makaanikada iyo barnaamijyada:
- Isticmaal luqadaha sida C ++ iyo Python si aad u horumariso abka.
- Maamulka shabakadaha iyo nidaamyada si loo rakibo loona ilaaliyo ROS.
- Fikradaha aasaasiga ah ee robotka sida khariidaynta, AI, deegaanaynta, kinematics-ka rogan, iwm., awood u yeelashada in la xidhiidhiyo dareemayaasha, hawl-wadeenada, kontaroolayaasha, iwm.
Dhib malaha kakanaanta robotka, oo leh ROS wax walba waa ka fudud yihiin. Mana aha mid ku xaddidan hal nooc oo robots ah, waxay u adeegi kartaa robots xayawaanka rabaayada ah, aaladaha aadanaha, iyada oo loo marayo hubka robotic ee warshadaha ...
Macluumaad dheeraad ah oo ku saabsan ROS - Web rasmi ah