Robot Operating System¶
Operating System:
Terminal:
Shell:
Editor:
Package Manager:
Programming Language:
Database:
Utility:
Extension:
Operating System:
Terminal:
Shell:
Editor:
Package Manager:
Programming Language:
Database:
Utility:
Extension:
Operating System:
Terminal:
Shell:
Editor:
Package Manager:
Programming Language:
Database:
Utility:
Extension:
The Robot Operating System (ROS) is a set of software libraries and tools that help build robotic applications.
Initialization¶
For information on how to use the Initialization parameter, please refer to the Initialization - Bash script section of the documentation.
Getting Started¶
Open a terminal and try out ros2 by running, for example:
$ ros2 run turtlesim turtlesim_node
For additional information and tutorials, refer to the documentation for Humble, Jazzy, and Kilted.
GUI tools¶
The app includes rqt, a framework for creating ROS system GUI tools. It provides a general-purpose interface for tasks such as data plotting and node management.
To launch rqt, run:
$ rqt
rqt offers a variety of plugins for different functions. Several useful plugins--such as rqt_graph, rqt_bag, and rqt_robot_steering-- are already pre-installed.
A plugin can be started directly from the terminal with:
$ ros2 run <plugin_name> <plugin_name>
For example:
$ ros2 run rqt_graph rqt_graph
For more information and tutorials, see the documentation for Humble, Jazzy, and Kilted.
Visualization tools¶
The application includes two main visualization tools:
RViz2 – A 3D visualization tool for displaying data from ROS topics. It provides an intuitive way to explore and understand complex robotic systems in 3D.
To launch
rviz2, run:$ ros2 run rviz2 rviz2
Gazebo - A powerful physics-based 3D simulator for testing and visualizing robots in realistic environments. It allows you to simulate sensors, actuators, and complex interactions with the environment before deploying to real hardware.
Gazebo can be launched from a ROS launch system, by writing in the terminal:
$ ros2 launch ros_gz_sim gz_sim.launch.py gz_args:=empty.sdf
Additionally the commands:
$ign sim
and
$gz sim
can be used to start Gazebo in ROS Humble and more recent ROS versions (Jazzy/Kilted) respectively.
For more information and tutorials, see the documentation for:
NVIDIA ROS Projects¶
NVIDIA provides a set of ROS packages designed to accelerate the development of AI-powered robotics applications.
Humble ISAAC ROS projects¶
The following NVIDIA Isaac ROS packages are pre-installed:
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