La i-robotics iyinkambu ekhulayo. Iyanda i-AI namarobhothi esikhundleni somsebenzi wabantu abaningi. Zingamanje nezesikhathi esizayo, ngakho-ke kubalulekile ukuqeqesha kulezi zinhlobo zezinkambu ukuze wazi ukuthi zisebenza kanjani nokuthi yimaphi amathuluzi nezinhlelo onazo kumaphrojekthi akho erobhothi. Futhi, kulesi sihloko, uzobona iyini i-ROS nakho konke odinga ukukwazi ngakho.
Yini iROS?
I-ROS imele i-Robot Operating System, noma isistimu yokusebenza irobhothi. Kuyi-middleware yamarobhothi, okungukuthi, iqoqo lezinhlaka ezihloselwe ukusiza ukuthuthukiswa kwesoftware yamarobhothi. Njengamanje, isetshenziswa kakhulu kumarobhothi aziwayo, ingelinye lamathuluzi angcono kakhulu atholakalayo namuhla, mahhala ngokuphelele, abhalwe ku-C nasePython, nangaphansi kwelayisensi yomthombo ovulekile we-BSD.
I-ROS yasungulwa ngo-2007, ngaphakathi kwe- I-Stanford Artificial Intelligence Laboratory, nangaphansi kwegama lekhodi Switchyard. Ekuqaleni bekuzoba eyephrojekthi yerobhothi ye-STAIR2. Ngemva kwalokhu, kwanqunywa ukuthi kuvulwe.
Umbuzo ovame ukubuzwa abaningi ukuthi, uma kungelona uhlelo lokusebenza, kungani lubizwa kanjalo? Nokho, nakuba iwuchungechunge lwemitapo yolwazi ezothuthukiswa, iqiniso liwukuthi inikeza ezinye zezincwadi imisebenzi ebalulekile ye-OS, njenge-abstraction layer ye-hardware ukuze abathuthukisi bakhathazeke kuphela ngesofthiwe, ukulawula izingxenye ezahlukene zerobhothi ezingeni eliphansi, umthamo wokuphatha nokuxhumana kwezinqubo, ukugcinwa kwamaphakheji, njll.
Umtapo wolwazi uqondiswe kuwo Amasistimu we-UNIX, njenge-Linux (kuma-multiple distros, nakuba ukusekelwa okungcono kakhulu ku-Ubuntu) kanye ne-macOS, nakuba isebenza nakwezinye izinhlelo zokusebenza ezifana ne-Microsoft Windows.
Kubalulekile futhi ukuhlukanisa phakathi kwe izingxenye kusuka ku-ROS:
- ros: ingxenye esebenza njengesistimu yokusebenza, isisekelo. Lena ingxenye yesofthiwe enelayisensi ye-BSD. Lokhu kuhlanganisa indawo yokuxhumana eyinhloko, ukuhamba kwedatha (izithombe, isitiriyo, i-laser, isilawuli, ama-actuator, othintana naye, ...), ukuphindwaphindwa kolwazi, ukudalwa nokucekelwa phansi kwamanodi, ukungena ngemvume, njll.
- ros-pkg: iqoqo lamaphakheji adalwe abasebenzisi futhi asebenzisa imisebenzi efana nokuhlela, ukubona, ukulingisa, ukwenza imephu, indawo, njll. Lezi ezinye izingxenye zinelayisensi kumalayisensi anhlobonhlobo.
I-Las amathuluzi afakiwe ku-ROS yilezi:
- rviz: okokulingisa kanye nokubonwa kwe-3D.
- rosbag: ukurekhoda nokudlala imilayezo yokuxhumana.
- ikhatini- Yakha ithuluzi, esekelwe CMake.
- rosbash- Iphakheji enamathuluzi okwandisa ukusebenza kwegobolondo le-bash.
- roslaunch: ukusebenzisa amanodi e-ROS endaweni noma ukude.
Amadokhumenti ephrojekthi lapha
Izinhlelo zokusebenza ze-ROS
I-ROS iphrojekthi ekuthuthukisweni okuqhubekayo, futhi isikhathi ngasinye ingasetshenziselwa izinhlelo eziningi emkhakheni we-AI namarobhothi, futhi isikhathi ngasinye senza umsebenzi waso kangcono:
- Amasistimu okubona okwenziwayo.
- Ukuhlonza izinto kanye nombono wokwenziwa.
- Ukubonwa kobuso, ukubonwa kokuthinta, njll.
- Ukulandelela into.
- I-Visual odometry.
- Ukuqonda ukunyakaza.
- Umbono we-stereo.
- Ukuhamba kwerobhothi.
- Lawula.
- Ukuhlela.
- Ukubamba izinto.
- Ukudidiyela.
- Ukuhlola.
- Njll
Izibonelo zamarobhothi asebenzisa i-ROS
Ziningi, futhi kungaba nzima ukuzibhala zonke, ngoba i-ROS isicishe ibe “yindinganiso” kwabaningi babo. Kodwa abanye owaziwa kakhulu Yilezi:
- PR1: irobhothi lomuntu siqu elakhiwe ilabhorethri yase-Ken Salisbury e-Stanford.
- PR2: irobhothi lomuntu siqu elakhiwa yi-Willow Garage.
- I-Baxter: irobhothi elivela ku-Rethink Robotic, Inc.
- Irobhothi leShadow: isandla serobhothi esivela enkampanini ye-Shadow Robot, ngokubambisana ne-Pierre and Marie Curie University yaseParis kanye ne-Carlos III University yaseMadrid. Kuthuthukiswe ngaphakathi kohlaka lwaseYurophu.
- Herb: idalwe ku-CMU ngaphakathi kohlelo lomuntu siqu lwamarobhothi lwenhlangano ye-Intel.
- Aldebaran Nao- Irobhothi elenziwe iHumanoid Robots Labs kanye neNyuvesi yaseFreiburg.
- I-Husky UGV: imoto ephansi kanye nomthombo ovulekile.
Kungani kufanele ufunde nge-ROS?
Amarobhothi ayizinhlelo eziyinkimbinkimbi futhi amarobhothi kunzima ukuwaqonda. Nokho, ukuba amathuluzi ezifana I-ROS yenza kube lula kakhulu ukuthuthukisa kusuka ekuqaleni, ukusheshisa ukwakhiwa kwamaphrojekthi akho ngesikhathi esincane kakhulu futhi ngaphandle kolwazi oluningi njengokungathi awunalo.
Ngamanye amazwi, izinzuzo ze-ROS ukwenza lula indlela yabathuthukisi, ngobuningi bezengezo zomthombo wamahhala nezivulekile, ukuze ube nakho konke okudingayo. Ngaphezu kwalokho, uzofunda okungaphezu kwe-robotics, kanye ne-electronics, mechanics kanye nezinhlelo:
- Sebenzisa izilimi ezifana ne-C ++ ne-Python ukuthuthukisa izinhlelo zokusebenza.
- Ukuphathwa kwamanethiwekhi nezinhlelo zokufaka nokugcina i-ROS.
- Imiqondo eyisisekelo yamarobhothi efana nokwenza imephu, i-AI, ukwenziwa kwasendaweni, i-kinematics ephambene, njll., ukwazi ukubeka izinzwa, ama-actuator, izilawuli, njll.
Kungakhathaliseki ukuthi ubunkimbinkimbi berobhothi, nge-ROS yonke into ilula kakhulu. Futhi ayikhawulelwe ohlotsheni olulodwa lwerobhothi, ingasebenza kusuka kumarobhothi ezilwane, kuye kumarobhothi e-humanoid, ngokusebenzisa izingalo zamarobhothi embonini ...
Olunye ulwazi mayelana ne-ROS - Iwebhu Esemthethweni