What is ROS?
- Capabilities, e.g., MoveIt, Nav2
- Utilities, e.g., tf, Time and Clock, ROS Command-line tools
- Simulation, e.g., Gazebo
- Debug tools, e.g., RViz, rosbag
- Build, package management, deployment tools, e.g., colcon/catkin, rospack, bloom
- Documentation and communicty, e.g., ROS Wiki, ROS Answers
Reasons for using a framework
- (Initial) Development speed
- Community and support
Reasons for not using a framework
- Performance
- Less dependencies/More control
- Serialization vs. Transport vs. Both
- Hardware dependency
- IDL support, interoperability with build systems
Why?
Why not?
- Team autonomy
- Migration & maintenance efforts