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   "source": [
    "from IPython.display import IFrame"
   ]
  },
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   "id": "1a8167e7",
   "metadata": {
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   "source": [
    "# Introducción a ROS\n",
    "\n",
    "_Robotic Operating System_\n",
    "\n",
    "Es un marco de trabajo (_framework_) ubicado en el camino medio entre el hardware y software de los sistemas robóticos.\n",
    "\n",
    "[ [https://doi.org/10.1126/scirobotics.abm6074](https://doi.org/10.1126/scirobotics.abm6074) ]"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1366b5be",
   "metadata": {
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    }
   },
   "source": [
    "## Vista rápida de ROS"
   ]
  },
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    "display(IFrame(\"https://player.vimeo.com/video/639236696?h=740f412ce5\",width=\"100%\",height=\"400px\"))"
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   "source": [
    "[ROS.org](https://www.ros.org/)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "844055c5",
   "metadata": {
    "slideshow": {
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    }
   },
   "source": [
    "## ROS 1\n",
    "\n",
    "Existen dos versiones de ROS llamadas ROS2 y ROS1, y en ellas cada año se crea una distribución. [ROS1](https://en.wikipedia.org/wiki/Robot_Operating_System) nació en la universidad de Stanford tiempo antes del 2007. Se desarrollo en la spin-off willow garage hasta el 2013, y de ahí continuo la [OSRF](https://www.openrobotics.org/). \n",
    "\n",
    "<img src=\"ros-noetic-ninjemys.svg\" alt=\"noetic logo\" width=\"200px\"/>\n",
    "\n",
    "La última distribución de ROS1 (_noetic ninjemys_) fue lanzada el 23 de mayo de 2020 y tiene fin de vida en mayo de 2025, ya que solo se va a continuar con ROS2."
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5709729f",
   "metadata": {
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    }
   },
   "source": [
    "# Versiones y distribuciones \n",
    "\n",
    "Existen dos versiones de ROS llamadas ROS2 y ROS1, y en ellas cada año se crea una distribución. La última distribución de ROS1 fue lanzada en el 2020, ya que solo se va a continuar con ROS2. \n",
    "\n",
    "<table><tr>\n",
    "    <td><img src=\"humble.png\" alt=\"humble logo\" width=\"200px\"/></td>\n",
    "    <td><img src=\"iron.png\" alt=\"iron logo\" width=\"200px\"/></td>\n",
    "</tr>\n",
    "<tr>\n",
    "    <td>Mayo 23 de 2022</td>\n",
    "    <td>Mayo 23 de 2023</td>\n",
    "</tr>\n",
    "</table>\n",
    "\n",
    "La distribución _Humble Hawksbill_ para ROS2 es una distribución LTS (_Long term support_) que estaremos usando."
   ]
  },
  {
   "cell_type": "markdown",
   "id": "167db1e5",
   "metadata": {
    "slideshow": {
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    }
   },
   "source": [
    "# Conceptos Claves en ROS\n",
    "\n",
    "- ROS Graph\n",
    "- Nodo _node_\n",
    "- Parámetro _param_\n",
    "- Tema _topic_\n",
    "- Servicio _service_\n",
    "- Acción _action_"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "cd11d502",
   "metadata": {
    "slideshow": {
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    }
   },
   "source": [
    "# ROS Graph\n",
    "\n",
    "El ROS Graph es la red de los diferentes elementos que constituyen una applicación robótica. Una representación grafica de la configuración es mostrada a continuación:\n",
    "\n",
    "<img src=\"Nodes-TopicandService.gif\" alt=\"Grafo de ROS que contiene nodos, temas y servicios\" width=\"600px\"/>"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "f2c47183",
   "metadata": {
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   "source": [
    "# Usando ROS\n",
    "\n",
    "Podemos usar ROS desde Linux (recomendado). La instalación de Linux la podemos hacer \n",
    "\n",
    "- En el disco duro del computador (hay que saber lo que se hace, se puede estropear Windows).\n",
    "- En una USB o disco externo (mi favorita).\n",
    "- En una máquina virtual. \n",
    "\n",
    "o podemos usar ROS\n",
    "\n",
    "- Accediendo al sitio [The Construct Sim](https://app.theconstructsim.com/Home)\n",
    "\n",
    "Más información sobre los distintos métodos [aquí](/software)"
   ]
  },
  {
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   "id": "211098a6",
   "metadata": {
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   "source": [
    "# Nodos en ROS (_nodes_)\n",
    "\n",
    "- `ros2 run`\n",
    "- `ros2 node list`\n",
    "- `ros2 node info`"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "a901bb55",
   "metadata": {
    "slideshow": {
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    }
   },
   "source": [
    "# Temas en ROS (_topic_)\n",
    "\n",
    "<img src=\"Topic-SinglePublisherandSingleSubscriber.gif\" width=\"600px\"/>"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "efa002ed",
   "metadata": {
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   },
   "source": [
    "# Temas en ROS (_topic_)\n",
    "\n",
    "<img src=\"Topic-MultiplePublisherandMultipleSubscriber.gif\" width=\"600px\"/>"
   ]
  },
  {
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   "id": "5fdf7746",
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   },
   "source": [
    "# Temas en ROS (_topic_)\n",
    "\n",
    "- `rqt_graph`\n",
    "- `ros2 topic list`\n",
    "- `ros2 topic echo`\n",
    "- `ros2 topic info`\n",
    "- `ros2 interface show`\n",
    "- `ros2 topic pub`\n",
    "- `ros2 topic hz`"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7b41cfd9",
   "metadata": {
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   },
   "source": [
    "# Servicio en ROS (_service_)\n",
    "\n",
    "<img src=\"Service-SingleServiceClient.gif\" width=\"600px\"/>"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "a56697fb",
   "metadata": {
    "slideshow": {
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    }
   },
   "source": [
    "# Servicio en ROS (_service_)\n",
    "\n",
    "<img src=\"Service-MultipleServiceClient.gif\" width=\"600px\"/>"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "496438b2",
   "metadata": {
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   },
   "source": [
    "# Servicio en ROS (_service_)\n",
    "\n",
    "- `ros2 service list`\n",
    "- `ros2 service type`\n",
    "- `ros2 service find`\n",
    "- `ros2 interface show`\n",
    "- `ros2 service call`"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "afd83e9e",
   "metadata": {
    "slideshow": {
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    }
   },
   "source": [
    "# Parámetros en ROS\n",
    "\n",
    "- `ros2 param list`\n",
    "- `ros2 param get`\n",
    "- `ros2 param set`\n",
    "- `ros2 param dump`\n",
    "- `ros2 param load`"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "59092423",
   "metadata": {
    "slideshow": {
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   },
   "source": [
    "# Acciones en ROS (_action_)\n",
    "\n",
    "<img src=\"Action-SingleActionClient.gif\" width=\"600px\"/>"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "bd583aa5",
   "metadata": {
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   },
   "source": [
    "# Acciones en ROS (_action_)\n",
    "\n",
    "- `ros2 node info`\n",
    "- `ros2 action list`\n",
    "- `ros2 action info`\n",
    "- `ros2 interface show`\n",
    "- `ros2 action send_goal`"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "46b1a8ed",
   "metadata": {
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   "source": [
    "# RQT Console\n",
    "\n",
    "La consola de mensajes para estudiar en detalle lo que ocurre en ROS\n",
    "\n",
    "`ros2 run rqt_console rqt_console`"
   ]
  },
  {
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   "id": "7a2acf24",
   "metadata": {
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   "source": [
    "# ROS Launch\n",
    "\n",
    "`ros2 launch turtlesim multisim.launch.py`\n",
    "\n",
    "``` python\n",
    "# turtlesim/launch/multisim.launch.py\n",
    "\n",
    "from launch import LaunchDescription\n",
    "import launch_ros.actions\n",
    "\n",
    "def generate_launch_description():\n",
    "    return LaunchDescription([\n",
    "        launch_ros.actions.Node(\n",
    "            namespace= \"turtlesim1\", package='turtlesim', executable='turtlesim_node', output='screen'),\n",
    "        launch_ros.actions.Node(\n",
    "            namespace= \"turtlesim2\", package='turtlesim', executable='turtlesim_node', output='screen'),\n",
    "    ])\n",
    "```"
   ]
  },
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   "id": "b38841af",
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   },
   "source": [
    "# ROS Bag\n",
    "\n",
    "- `ros2 bag record`\n",
    "- `ros2 bag info`\n",
    "- `ros2 bag play`"
   ]
  }
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