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Robot Operating System
ROS, an acronym for Robot Operating System, serves as an open-source framework dedicated to the construction of robotic systems. It provides libraries and tools essential for the creation of robot applications, finding extensive application in research, academia, and industry for the advancement of state-of-the-art robotic technology.
Within the diverse tasks that a robot executes, ROS implements the functions typically offered by an operating system. These include hardware abstraction, driver-controlled device management, inter-process communication, application oversight with packages, and other frequently employed operations.
The installation procedure is available in the official documentation, and it is suggested to use the related apt repository in the case you are using a debian-based system.
Note that RMW desert is available for the ROS distros officially supported after 2024, and you can find a list of them in the next chapter. The compatibility with other versions is not guaranteed, but you may try to build the sources of this middleware by editing some functions inside the src folder.
Within the ROS framework, processes are represented as nodes arranged in a graph structure interconnected by edges known as topics. These nodes in ROS have the capability to send messages via topics, initiate service requests to other nodes, offer services to other nodes, or access and modify shared data from a common repository known as the parameter server.
To better understand the underlying data exchange mechanisms you can have a look at the basic tutorials provided with the software, and become familiar with tools like turtlesim, ros2, and rqt.