La iirobhothi licandelo elandayo. Iya isanda i-AI kunye neerobhothi ezithatha indawo yomsebenzi wabantu abaninzi. Ziyangoku kunye nekamva, ngoko ke kubalulekile ukuqeqesha kwezi ntlobo zamasimi ukwazi ukuba zisebenza njani kwaye zeziphi izixhobo kunye neenkqubo onazo kwiiprojekthi zakho zerobhothi. Kwaye, kweli nqaku, uya kubona yintoni iROS kunye nayo yonke into oyifunayo ukuyazi ngayo.
Yintoni iROS?
I-ROS imele i-Robot Operating System, okanye inkqubo yokusebenza yerobhothi. Yi-middleware yerobhothi, oko kukuthi, ingqokelela yezakhelo ezijoliswe ukuququzelela ukuphuhliswa kwesoftware yeerobhothi. Okwangoku, isetyenziswa ngokubanzi kwiirobhothi ezaziwayo, enye yezona zixhobo zibalaseleyo ezikhoyo namhlanje, simahla, zibhalwe kwiC kunye nePython, naphantsi kwelayisensi yomthombo ovulekileyo weBSD.
I-ROS yaphuhliswa ekuqaleni kwi-2007, ngaphakathi kwe Stanford Artificial Intelligence Laboratory, kwaye phantsi kwegama lekhowudi Switchyard. Ekuqaleni ibiya kuba yeye STAIR2 yeprojekthi yerobhothi. Emva koku, kwagqitywa ukuba kuvulwe.
Umbuzo osoloko ubuzwa ngabaninzi kukuba, ukuba akusiyo inkqubo yokusebenza, kutheni ibizwa njalo? Ewe, nangona iluluhlu lwamathala eencwadi ophuhliso, inyani yeyokuba ibonelela ngamanye imisebenzi ebalulekileyo ye-OS, njengoluhlu lwe-abstraction ye-hardware ukwenzela ukuba abaphuhlisi bakhathazeke kuphela nge-software, ukulawula amacandelo ahlukeneyo e-robot kwinqanaba eliphantsi, amandla okulawula kunye nokunxibelelana kweenkqubo, ukugcinwa kweepakethi, njl.
Ithala leencwadi lilungiselelwe Iinkqubo zeUNIX, njengeLinux (kwi-multiple distros, nangona inkxaso ingcono ye-Ubuntu) kunye ne-macOS, nangona isebenza nakwezinye iinkqubo zokusebenza ezifana ne-Microsoft Windows.
Kwakhona kubalulekile ukwahlula phakathi kwe iinxalenye ukusuka kwi-ROS:
- ros: yinxalenye esebenza njengenkqubo yokusebenza, isiseko. Le yinxalenye yesoftware enelayisensi yeBSD. Oku kubandakanya i-node yokulungelelanisa eyintloko, ukuhamba kwedatha (imifanekiso, i-stereo, i-laser, ulawulo, i-activators, uqhagamshelwano, ...), ukuphindaphinda kolwazi, ukudala kunye nokutshatyalaliswa kwee-nodes, ukungena ngemvume, njl.
- ros-pkg: luluhlu lweepakethe ezenziwe ngabasebenzisi kwaye zizalisekisa imisebenzi efana nokucwangcisa, ukuqonda, ukulinganisa, imephu, indawo, njl. Lawa amanye amacandelo anelayisensi kuluhlu olubanzi lweelayisensi.
Las izixhobo zibandakanyiwe kwi-ROS zezi:
- rviz: ukulinganisa kunye nokubonwa kwe-3D.
- rosbag: ukurekhoda nokudlala imiyalezo yonxibelelwano.
- ikati- Yakha isixhobo, esekelwe CMake.
- rosbash- Iphakheji enezixhobo zokwandisa ukusebenza kweqokobhe le-bash.
- roslaunch: ukuqhuba iindawo ze-ROS kwindawo okanye ukude.
izicelo zeROS
I-ROS yiprojekthi ekuphuhlisweni rhoqo, kwaye ixesha ngalinye lingasetyenziselwa Usetyenziso olungakumbi ngaphakathi kwintsimi ye-AI kunye neerobhothi, kwaye ixesha ngalinye lenza umsebenzi walo ngcono:
- Iinkqubo zokujonga okwenziweyo.
- Ukuchongwa kwezinto kunye nombono wokwenziwa.
- Ukuqondwa kobuso, ukuqaphela izijekulo, njl.njl.
- Ukulandelwa kwento.
- I-odometry ebonakalayo.
- Ukuqonda iintshukumo.
- Umbono we stereo.
- Ukuhamba kwerobhothi.
- Ulawulo.
- Ukucwangcisa.
- Ukubamba izinto.
- Ulungelelaniso.
- Uvavanyo.
- Njl
Imizekelo yeerobhothi ezisebenzisa iROS
Kukho ezininzi, kwaye kuya kuba nzima ukuzibhala zonke, kuba i-ROS iphantse yaba "ngumgangatho" kuninzi lwabo. Kodwa ezinye eyaziwa kakhulu Zizo:
- PR1: irobhothi yobuqu eyenziwe yilabhoratri yaseKen Salisbury eStanford.
- PR2: irobhothi yobuqu ephuhliswa yiWillow Garage.
- UBaxter: irobhothi evela kwiRethink Robotics, Inc.
- Irobhothi yesithunzi: isandla serobhothi esivela kwinkampani ye-Shadow Robot, ngokubambisana ne-Pierre kunye ne-Marie Curie University yaseParis kunye ne-Carlos III University yaseMadrid. Iphuhliswe ngaphakathi kwesakhelo saseYurophu.
- imifino: yenziwe kwi-CMU ngaphakathi kwenkqubo yerobhothi yobuqu ye-Intel corporation.
- Aldebaran Nao- Irobhothi ye-humanoid eyenziwe yi-Humanoid Robots Labs kunye neYunivesithi yaseFreiburg.
- Husky UGV: isithuthi esisezantsi kunye nomthombo ovulekileyo.
Kutheni kufuneka ufunde ngeROS?
Iirobhothi ziinkqubo ezintsonkothileyo kwaye iirobhothi kunzima ukuziqonda. Nangona kunjalo, ukuba nezixhobo ezinje I-ROS yenza kube lula kakhulu ukuphuhlisa ukusuka ekuqaleni, ukukhawulezisa ukwenza iiprojekthi zakho ngexesha elincinci kwaye ngaphandle kolwazi oluninzi ngokungathi awunalo.
Ngamanye amazwi, iingenelo ze-ROS kukwenza lula indlela yabaphuhlisi, ngobuninzi bezongezo zemithombo yasimahla kunye nevulekileyo, ukuze ube nayo yonke into oyifunayo. Ukongeza, uya kufunda ngakumbi kunerobhothi, kunye ne-elektroniki, ubuchwephesha kunye nenkqubo:
- Sebenzisa iilwimi ezinje ngeC ++ kunye nePython ukuphuhlisa usetyenziso.
- Ulawulo lothungelwano kunye neenkqubo zokufakela nokugcina iROS.
- Iingcamango ezisisiseko zerobhothi ezifana nemephu, i-AI, indawo yokuhlala, i-kinematics eguquguqukayo, njl., ukukwazi ukubeka abenzi boluvo, ii-activators, abalawuli, njl.
Nokuba yintoni na ukuntsokotha kwerobhothi, nge-ROS yonke into ilula kakhulu. Kwaye ayipheleli kuhlobo olunye lwerobhothi, inokusebenza ukusuka kwiirobhothi zezilwanyana, ukuya kwiirobhothi ezingabantu, ngeengalo zerobhothi kumzi-mveliso ...
Ulwazi oluninzi malunga neROS - Iwebhu esemthethweni