{"id":3007,"date":"2020-04-20T08:30:24","date_gmt":"2020-04-20T12:30:24","guid":{"rendered":"https:\/\/robotiqueudes.ca\/?p=3007"},"modified":"2020-04-19T17:11:48","modified_gmt":"2020-04-19T21:11:48","slug":"ros-robot-operating-system","status":"publish","type":"post","link":"https:\/\/robotiqueudes.ca\/ros-robot-operating-system\/","title":{"rendered":"ROS : Robot Operating System"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"3007\" class=\"elementor elementor-3007\" data-elementor-post-type=\"post\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-9cabeca elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"9cabeca\" data-element_type=\"section\" data-settings=\"{&quot;jet_parallax_layout_list&quot;:[{&quot;jet_parallax_layout_image&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;_id&quot;:&quot;b8183b5&quot;,&quot;jet_parallax_layout_image_tablet&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_image_mobile&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_speed&quot;:{&quot;unit&quot;:&quot;%&quot;,&quot;size&quot;:50,&quot;sizes&quot;:[]},&quot;jet_parallax_layout_type&quot;:&quot;scroll&quot;,&quot;jet_parallax_layout_direction&quot;:null,&quot;jet_parallax_layout_fx_direction&quot;:null,&quot;jet_parallax_layout_z_index&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x&quot;:50,&quot;jet_parallax_layout_bg_y&quot;:50,&quot;jet_parallax_layout_bg_size&quot;:&quot;auto&quot;,&quot;jet_parallax_layout_animation_prop&quot;:&quot;transform&quot;,&quot;jet_parallax_layout_on&quot;:[&quot;desktop&quot;,&quot;tablet&quot;],&quot;jet_parallax_layout_bg_x_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_mobile&quot;:&quot;&quot;}]}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-71356d3\" data-id=\"71356d3\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-114803f elementor-widget elementor-widget-alert\" data-id=\"114803f\" data-element_type=\"widget\" data-widget_type=\"alert.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-alert elementor-alert-info\" role=\"alert\">\n\t\t\t<span class=\"elementor-alert-title\">Bienvenue sur le blog de Robotique UdeS!<\/span>\n\t\t\t\t\t\t\t<span class=\"elementor-alert-description\">Sur cette plateforme, nous partageons les avancements de nos projets, ainsi que certaines connaissances techniques qui pourraient vous int\u00e9resser. <\/span>\n\t\t\t\t\t\t\t\t\t\t<button type=\"button\" class=\"elementor-alert-dismiss\">\n\t\t\t\t\t\t\t\t\t\t\t<span aria-hidden=\"true\">&times;<\/span>\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-screen-only\">Ignorer cette alerte.<\/span>\n\t\t\t\t<\/button>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-df838b7 elementor-widget elementor-widget-spacer\" data-id=\"df838b7\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-f838814 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"f838814\" data-element_type=\"section\" 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class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-a8a2dfa\" data-id=\"a8a2dfa\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-4cd9483 elementor-hidden-phone elementor-widget elementor-widget-jet-animated-text\" data-id=\"4cd9483\" data-element_type=\"widget\" data-widget_type=\"jet-animated-text.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"elementor-jet-animated-text jet-elements\">\n<div class=\"jet-animated-text jet-animated-text--effect-fx1\" data-settings='{\"effect\":\"fx1\",\"delay\":3000}'>\n\t<div class=\"jet-animated-text__before-text\">\n\t<span>ROS<\/span>&nbsp;<span>:<\/span>&nbsp;<span>Robot<\/span>&nbsp;<span>Operating<\/span>&nbsp;<span>System<\/span>&nbsp;<\/div>\n\t<div class=\"jet-animated-text__animated-text\">\n<div class=\"jet-animated-text__animated-text-item active visible\" dir=\"ltr\">\n\t<\/div>\n<\/div>\t<\/div><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-22a7378 elementor-hidden-desktop elementor-hidden-tablet elementor-widget elementor-widget-heading\" data-id=\"22a7378\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">ROS : Robot Operating System<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4248a25 elementor-widget elementor-widget-spacer\" data-id=\"4248a25\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a11bb9e elementor-widget elementor-widget-text-editor\" data-id=\"a11bb9e\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Aujourd\u2019hui, lorsqu\u2019on parle de d\u00e9veloppement robotique, ROS est devenu un incontournable. Cette plateforme <em>open-source<\/em> facilite l\u2019int\u00e9gration des diff\u00e9rents modules logiciels qui constituent un syst\u00e8me robotique et propose un standard pour la communaut\u00e9 de d\u00e9veloppeurs.<\/p><p>Issu d\u2019un projet du Stanford Artificial Intelligence Laboratory, ROS a initialement \u00e9t\u00e9 d\u00e9velopp\u00e9 en 2007. Le projet est n\u00e9 dans le but de r\u00e9pondre au besoin d\u2019avoir un moyen de relier tous les processus logiciels qu\u2019un syst\u00e8me robotique peut contenir. Mais pourquoi est-ce qu\u2019un tel outil est n\u00e9cessaire?<\/p><p>Typiquement, un robot est compos\u00e9 de 3 principaux types de modules: la perception, la planification et le contr\u00f4le.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-93ba7e3 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"93ba7e3\" data-element_type=\"section\" 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d=\"M346,452h-45v-32h-90v32h-45c-24.853,0-45,20.147-45,45c0,8.284,6.716,15,15,15h240c8.284,0,15-6.716,15-15    C391,472.147,370.853,452,346,452z\"><\/path>\t<\/g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><\/svg>\t\t\t\t<\/span>\n\t\t\t<\/div>\n\t\t\t\t\t\t<div class=\"elementor-icon-box-content\">\n\t\t\t\t<h3 class=\"elementor-icon-box-title\">\n\t\t\t\t\t<span  >\n\t\t\t\t\t\tPerception\t\t\t\t\t<\/span>\n\t\t\t\t<\/h3>\n\t\t\t\t\t\t\t\t\t<p class=\"elementor-icon-box-description\">\n\t\t\t\t\t\tAvant de pouvoir interagir avec son environnement, le robot a besoin de le comprendre. Cela peut n\u00e9cessiter une grande quantit\u00e9 de capteurs, selon la t\u00e2che que le robot doit accomplir. Par exemple, une voiture autonome peut utiliser des cam\u00e9ras, des LIDAR, des GPS, des centrales inertielles, etc. \t\t\t\t\t<\/p>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-4de8ccd\" data-id=\"4de8ccd\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-03521f0 elementor-view-default elementor-position-top elementor-mobile-position-top elementor-widget elementor-widget-icon-box\" data-id=\"03521f0\" data-element_type=\"widget\" data-widget_type=\"icon-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-icon-box-wrapper\">\n\t\t\t\t\t\t<div class=\"elementor-icon-box-icon\">\n\t\t\t\t<span  class=\"elementor-icon elementor-animation-\">\n\t\t\t\t<svg 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c0,7.091-4.314,13.601-11.541,17.416c-2.46,1.298-4,3.851-4,6.633C305.101,262.791,306.641,265.344,309.101,266.642z\"><\/path>\t<\/g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><g><\/g><\/svg>\t\t\t\t<\/span>\n\t\t\t<\/div>\n\t\t\t\t\t\t<div class=\"elementor-icon-box-content\">\n\t\t\t\t<h3 class=\"elementor-icon-box-title\">\n\t\t\t\t\t<span  >\n\t\t\t\t\t\tPlanification\t\t\t\t\t<\/span>\n\t\t\t\t<\/h3>\n\t\t\t\t\t\t\t\t\t<p class=\"elementor-icon-box-description\">\n\t\t\t\t\t\tEnsuite, une fois que le robot comprend ce qu\u2019il se passe autour de lui, il doit prendre des d\u00e9cisions et utiliser l\u2019information qui lui est pr\u00e9sent\u00e9e pour agir de mani\u00e8re optimale. Si on reprend notre voiture autonome, celle-ci doit savoir comment r\u00e9agir si elle d\u00e9tecte un pi\u00e9ton qui se trouve devant elle!\t\t\t\t\t<\/p>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-33 elementor-inner-column elementor-element elementor-element-138c463\" data-id=\"138c463\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-1b44886 elementor-view-default elementor-position-top elementor-mobile-position-top elementor-widget elementor-widget-icon-box\" data-id=\"1b44886\" data-element_type=\"widget\" data-widget_type=\"icon-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-icon-box-wrapper\">\n\t\t\t\t\t\t<div class=\"elementor-icon-box-icon\">\n\t\t\t\t<span  class=\"elementor-icon elementor-animation-\">\n\t\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" height=\"480pt\" viewBox=\"0 0 480.00012 480\" width=\"480pt\"><path d=\"m104 200c-22.089844 0-40 17.910156-40 40s17.910156 40 40 40 40-17.910156 40-40c-.027344-22.082031-17.917969-39.972656-40-40zm0 64c-13.253906 0-24-10.746094-24-24s10.746094-24 24-24 24 10.746094 24 24-10.746094 24-24 24zm0 0\"><\/path><path d=\"m264 112c22.089844 0 40-17.910156 40-40s-17.910156-40-40-40-40 17.910156-40 40c.027344 22.082031 17.917969 39.972656 40 40zm0-64c13.253906 0 24 10.746094 24 24s-10.746094 24-24 24-24-10.746094-24-24 10.746094-24 24-24zm0 0\"><\/path><path d=\"m456 243.390625v-27.390625c-.0625-20.101562-15.0625-37.019531-35.007812-39.496094l-85.425782-96.75c.28125-2.578125.425782-5.164062.433594-7.753906 0-39.765625-32.234375-72-72-72s-72 32.234375-72 72c0 1.273438.128906 2.511719.191406 3.761719l-92.457031 92.453125c-29 1.652344-54.148437 20.613281-63.722656 48.039062-9.574219 27.425782-1.683594 57.917969 19.988281 77.257813v122.488281h-48c-4.417969 0-8 3.582031-8 8v48c0 4.417969 3.582031 8 8 8h304c4.417969 0 8-3.582031 8-8v-48c0-4.417969-3.582031-8-8-8h-160v-122.488281c18.363281-16.164063 27.070312-40.671875 23.023438-64.800781l84.898437-84.917969c1.359375.078125 2.703125.207031 4.078125.207031 4.070312-.023438 8.128906-.394531 12.136719-1.105469l99.863281 78.707031v21.804688c-14.554688 6.355469-23.972656 20.714844-24 36.59375v80c-.015625 2.78125 1.414062 5.367188 3.773438 6.835938 2.363281 1.46875 5.316406 1.605468 7.800781.363281l32-16c2.726562-1.359375 4.441406-4.152344 4.425781-7.199219v-56h32v56c-.015625 3.046875 1.699219 5.839844 4.425781 7.199219l32 16c2.484375 1.242187 5.4375 1.105469 7.800781-.363281 2.359376-1.46875 3.789063-4.054688 3.773438-6.835938v-80c-.019531-15.886719-9.441406-30.253906-24-36.609375zm-192-227.390625c30.929688 0 56 25.070312 56 56s-25.070312 56-56 56-56-25.070312-56-56c.035156-30.914062 25.085938-55.964844 56-56zm40 448h-288v-32h288zm-168-48h-64v-111.601562c20.132812 10.128906 43.867188 10.128906 64 0zm-32-120c-30.929688 0-56-25.070312-56-56s25.070312-56 56-56 56 25.070312 56 56c-.035156 30.914062-25.085938 55.964844-56 56zm65.929688-84.800781c-9.105469-20.683594-27.371094-35.914063-49.355469-41.160157l75.203125-75.199218c7.179687 21.320312 23.878906 38.078125 45.175781 45.328125zm160.925781-112.613281 70.800781 80.191406c-10.964844 4.265625-19.496094 13.144531-23.320312 24.269531l-83.726563-65.976563c16.503906-7.792968 29.453125-21.542968 36.246094-38.484374zm61.144531 117.414062c0-13.253906 10.746094-24 24-24s24 10.746094 24 24v24h-48zm72 131.054688-16-8v-59.054688c0-4.417969-3.582031-8-8-8h-48c-4.417969 0-8 3.582031-8 8v59.054688l-16 8v-67.054688c0-13.253906 10.746094-24 24-24h48c13.253906 0 24 10.746094 24 24zm0 0\"><\/path><path d=\"m96 336c-4.417969 0-8 3.582031-8 8v48c0 4.417969 3.582031 8 8 8s8-3.582031 8-8v-48c0-4.417969-3.582031-8-8-8zm0 0\"><\/path><path d=\"m186.34375 130.34375-32 32c-2.078125 2.007812-2.914062 4.984375-2.179688 7.78125.730469 2.796875 2.914063 4.980469 5.710938 5.710938 2.796875.734374 5.773438-.101563 7.78125-2.179688l32-32c3.03125-3.140625 2.988281-8.128906-.097656-11.214844-3.085938-3.085937-8.074219-3.128906-11.214844-.097656zm0 0\"><\/path><\/svg>\t\t\t\t<\/span>\n\t\t\t<\/div>\n\t\t\t\t\t\t<div class=\"elementor-icon-box-content\">\n\t\t\t\t<h3 class=\"elementor-icon-box-title\">\n\t\t\t\t\t<span  >\n\t\t\t\t\t\tContr\u00f4le\t\t\t\t\t<\/span>\n\t\t\t\t<\/h3>\n\t\t\t\t\t\t\t\t\t<p class=\"elementor-icon-box-description\">\n\t\t\t\t\t\tFinalement, le robot doit \u00eatre en mesure d'ex\u00e9cuter les actions qu\u2019il a d\u00e9termin\u00e9 comme \u00e9tant optimales. Cela signifie de convertir des commandes abstraites en action concr\u00e8tes qui auront des cons\u00e9quences dans le monde r\u00e9el, comme acc\u00e9l\u00e9rer et freiner par exemple.\t\t\t\t\t<\/p>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<div class=\"elementor-element elementor-element-2c051b0 elementor-widget elementor-widget-spacer\" data-id=\"2c051b0\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ab1b096 elementor-widget elementor-widget-text-editor\" data-id=\"ab1b096\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\tPar contre, ces 3 cat\u00e9gories de t\u00e2ches englobent souvent une multitude de processus, qui ne fonctionnent pas n\u00e9cessairement de fa\u00e7on lin\u00e9aire et qui interagissent tous les uns avec les autres de mani\u00e8re complexe. C\u2019est l\u00e0 que ROS entre en jeu. Il permet de suivre tous les modules (appel\u00e9s des noeuds) et g\u00e8re les transferts d\u2019information entre eux.\n\nSuite aux premiers d\u00e9veloppements de ROS, Willow Garage, un incubateur de recherche robotique, a pris en charge le d\u00e9veloppement de la plateforme et a contribu\u00e9 grandement \u00e0 sa croissance. La communaut\u00e9 open-source de ROS compte aujourd\u2019hui un grand nombre de contributeurs \u00e0 travers le monde.\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-cc9cab8 elementor-widget elementor-widget-spacer\" data-id=\"cc9cab8\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2714834 elementor-widget elementor-widget-heading\" data-id=\"2714834\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Comment \u00e7a fonctionne?<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d9096d9 elementor-position-right elementor-vertical-align-top elementor-widget elementor-widget-image-box\" data-id=\"d9096d9\" data-element_type=\"widget\" data-widget_type=\"image-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"elementor-image-box-wrapper\"><figure class=\"elementor-image-box-img\"><img fetchpriority=\"high\" decoding=\"async\" width=\"753\" height=\"451\" src=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-process.png\" class=\"attachment-full size-full wp-image-3013\" alt=\"\" srcset=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-process.png 753w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-process-300x180.png 300w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-process-600x359.png 600w\" sizes=\"(max-width: 753px) 100vw, 753px\" \/><\/figure><div class=\"elementor-image-box-content\"><p class=\"elementor-image-box-description\">Le nom Robot Operating System peut porter \u00e0 confusion. En fait, ROS n\u2019est pas un syst\u00e8me d\u2019exploitation en soi, comme le sont Windows et Linux par exemple. C\u2019est plut\u00f4t un <i>middle-ware,<\/i> une plateforme qui offre une abstraction pour faciliter l\u2019interaction et la communication entre diff\u00e9rents processus qui peuvent \u00eatre ind\u00e9pendants et m\u00eame rouler sur des machines diff\u00e9rentes.\n\nL\u2019id\u00e9e g\u00e9n\u00e9rale derri\u00e8re ROS est qu\u2019ils s\u2019agit d\u2019un syst\u00e8me distribu\u00e9. Chaque noeud fonctionne de mani\u00e8re ind\u00e9pendante, mais se rapporte au <i>master<\/i>, qui coordonne les interactions.<\/p><\/div><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d76afd4 elementor-position-left elementor-vertical-align-top elementor-widget elementor-widget-image-box\" data-id=\"d76afd4\" data-element_type=\"widget\" data-widget_type=\"image-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"elementor-image-box-wrapper\"><figure class=\"elementor-image-box-img\"><img decoding=\"async\" width=\"816\" height=\"389\" src=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-master.jpg\" class=\"attachment-full size-full wp-image-3011\" alt=\"\" srcset=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-master.jpg 816w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-master-300x143.jpg 300w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-master-768x366.jpg 768w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-master-600x286.jpg 600w\" sizes=\"(max-width: 816px) 100vw, 816px\" \/><\/figure><div class=\"elementor-image-box-content\"><p class=\"elementor-image-box-description\">Le <i>master<\/i> accomplit plusieurs t\u00e2ches. Il accorde aux noeuds des noms uniques, et garde un registre des canaux de communications entre ceux-ci. Le <i>master<\/i> met ce registre \u00e0 la disposition des noeuds, qui sont ensuite capables de communiquer entre eux de mani\u00e8re <i>peer-to-peer<\/i> une fois qu\u2019un premier contact est \u00e9tabli.<\/p><\/div><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-47e8048 elementor-widget elementor-widget-spacer\" data-id=\"47e8048\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-060829a elementor-widget elementor-widget-text-editor\" data-id=\"060829a\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>La communication inter-noeuds peut se faire de diff\u00e9rentes mani\u00e8res. Les deux m\u00e9canismes les plus utilis\u00e9s sont les <i>topics<\/i> et les <i>services<\/i>.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-e228d94 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"e228d94\" data-element_type=\"section\" data-settings=\"{&quot;jet_parallax_layout_list&quot;:[{&quot;jet_parallax_layout_image&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;_id&quot;:&quot;b2051e2&quot;,&quot;jet_parallax_layout_image_tablet&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_image_mobile&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_speed&quot;:{&quot;unit&quot;:&quot;%&quot;,&quot;size&quot;:50,&quot;sizes&quot;:[]},&quot;jet_parallax_layout_type&quot;:&quot;scroll&quot;,&quot;jet_parallax_layout_direction&quot;:null,&quot;jet_parallax_layout_fx_direction&quot;:null,&quot;jet_parallax_layout_z_index&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x&quot;:50,&quot;jet_parallax_layout_bg_y&quot;:50,&quot;jet_parallax_layout_bg_size&quot;:&quot;auto&quot;,&quot;jet_parallax_layout_animation_prop&quot;:&quot;transform&quot;,&quot;jet_parallax_layout_on&quot;:[&quot;desktop&quot;,&quot;tablet&quot;],&quot;jet_parallax_layout_bg_x_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_mobile&quot;:&quot;&quot;}]}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-8f4b5db\" data-id=\"8f4b5db\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-c70626d elementor-widget elementor-widget-text-editor\" data-id=\"c70626d\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>D\u2019une part, les <strong><i>topics<\/i><\/strong> sont des canaux de communication ayant chacun un identifiant unique. Ils permettent aux noeuds de se transmettre des messages sous forme de <i>publisher<\/i>\/<i>subscriber<\/i>. Il n\u2019y a donc pas de notion d\u2019exp\u00e9diteur ni de destinataire. Tous les noeuds du syst\u00e8me ont acc\u00e8s \u00e0 l\u2019information qui est envoy\u00e9e par des <i>topics<\/i>.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-9fa8883\" data-id=\"9fa8883\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-3dd7ab9 elementor-widget elementor-widget-text-editor\" data-id=\"3dd7ab9\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>D\u2019autre part, il y a les <strong><i>services<\/i><\/strong>. Ceux-ci permettent de faire des appels de proc\u00e9dures \u00e0 distance entre les noeuds. Les donn\u00e9es circulent sous forme de messages et ont des formats qui sont pr\u00e9\u00e9tablis par le noeud qui offre le service en question.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<div class=\"elementor-element elementor-element-feb9743 elementor-widget elementor-widget-spacer\" data-id=\"feb9743\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d971c24 elementor-widget elementor-widget-heading\" data-id=\"d971c24\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Outils\n<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-572efce elementor-widget elementor-widget-text-editor\" data-id=\"572efce\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\tEn plus de ses fonctionnalit\u00e9s de base, ROS offre plusieurs outils pour faciliter le d\u00e9veloppement de syst\u00e8mes robotiques.\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-22b3ab1 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"22b3ab1\" data-element_type=\"section\" data-settings=\"{&quot;jet_parallax_layout_list&quot;:[{&quot;jet_parallax_layout_image&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;_id&quot;:&quot;2ab2a64&quot;,&quot;jet_parallax_layout_image_tablet&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_image_mobile&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_speed&quot;:{&quot;unit&quot;:&quot;%&quot;,&quot;size&quot;:50,&quot;sizes&quot;:[]},&quot;jet_parallax_layout_type&quot;:&quot;scroll&quot;,&quot;jet_parallax_layout_direction&quot;:null,&quot;jet_parallax_layout_fx_direction&quot;:null,&quot;jet_parallax_layout_z_index&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x&quot;:50,&quot;jet_parallax_layout_bg_y&quot;:50,&quot;jet_parallax_layout_bg_size&quot;:&quot;auto&quot;,&quot;jet_parallax_layout_animation_prop&quot;:&quot;transform&quot;,&quot;jet_parallax_layout_on&quot;:[&quot;desktop&quot;,&quot;tablet&quot;],&quot;jet_parallax_layout_bg_x_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_mobile&quot;:&quot;&quot;}]}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-158f583\" data-id=\"158f583\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-5a491fd elementor-position-top elementor-widget elementor-widget-image-box\" data-id=\"5a491fd\" data-element_type=\"widget\" data-widget_type=\"image-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"elementor-image-box-wrapper\"><figure class=\"elementor-image-box-img\"><a href=\"http:\/\/wiki.ros.org\/rqt\" tabindex=\"-1\"><img decoding=\"async\" width=\"1611\" height=\"1057\" src=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt.png\" class=\"attachment-full size-full wp-image-3014\" alt=\"\" srcset=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt.png 1611w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-300x197.png 300w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-1024x672.png 1024w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-768x504.png 768w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-1536x1008.png 1536w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-600x394.png 600w\" sizes=\"(max-width: 1611px) 100vw, 1611px\" \/><\/a><\/figure><div class=\"elementor-image-box-content\"><h4 class=\"elementor-image-box-title\"><a href=\"http:\/\/wiki.ros.org\/rqt\">rqt<\/a><\/h4><p class=\"elementor-image-box-description\">L\u2019outil rqt est une interface utilisateur modulable. C\u2019est une plateforme qui g\u00e8re le d\u00e9ploiement de plugins bas\u00e9s sur Qt. Certains plugins de base sont fournis par ROS et il est aussi possible de d\u00e9velopper des modules personnalis\u00e9s.<\/p><\/div><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-578bacd\" data-id=\"578bacd\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-f1dc4a5 elementor-position-top elementor-widget elementor-widget-image-box\" data-id=\"f1dc4a5\" data-element_type=\"widget\" data-widget_type=\"image-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"elementor-image-box-wrapper\"><figure class=\"elementor-image-box-img\"><a href=\"http:\/\/wiki.ros.org\/rqt_graph\" tabindex=\"-1\"><img loading=\"lazy\" decoding=\"async\" width=\"1089\" height=\"447\" src=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-graph.png\" class=\"attachment-full size-full wp-image-3015\" alt=\"\" srcset=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-graph.png 1089w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-graph-300x123.png 300w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-graph-1024x420.png 1024w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-graph-768x315.png 768w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-rqt-graph-600x246.png 600w\" sizes=\"(max-width: 1089px) 100vw, 1089px\" \/><\/a><\/figure><div class=\"elementor-image-box-content\"><h4 class=\"elementor-image-box-title\"><a href=\"http:\/\/wiki.ros.org\/rqt_graph\">rqt_graph<\/a><\/h4><p class=\"elementor-image-box-description\">Un des plugins fournis par ROS qui est tr\u00e8s utile est rqt_graph. Il s\u2019agit d\u2019une interface qui permet de visualiser les noeuds actifs ainsi que les transferts d\u2019information entre ceux-ci. C\u2019est un excellent outil pour d\u00e9boguer un programme ROS et valider son bon fonctionnement.<\/p><\/div><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<div class=\"elementor-element elementor-element-c5ae536 elementor-widget elementor-widget-spacer\" data-id=\"c5ae536\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<section class=\"elementor-section elementor-inner-section elementor-element elementor-element-dfacddd elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"dfacddd\" data-element_type=\"section\" data-settings=\"{&quot;jet_parallax_layout_list&quot;:[{&quot;jet_parallax_layout_image&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;_id&quot;:&quot;82369b3&quot;,&quot;jet_parallax_layout_image_tablet&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_image_mobile&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_speed&quot;:{&quot;unit&quot;:&quot;%&quot;,&quot;size&quot;:50,&quot;sizes&quot;:[]},&quot;jet_parallax_layout_type&quot;:&quot;scroll&quot;,&quot;jet_parallax_layout_direction&quot;:null,&quot;jet_parallax_layout_fx_direction&quot;:null,&quot;jet_parallax_layout_z_index&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x&quot;:50,&quot;jet_parallax_layout_bg_y&quot;:50,&quot;jet_parallax_layout_bg_size&quot;:&quot;auto&quot;,&quot;jet_parallax_layout_animation_prop&quot;:&quot;transform&quot;,&quot;jet_parallax_layout_on&quot;:[&quot;desktop&quot;,&quot;tablet&quot;],&quot;jet_parallax_layout_bg_x_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_mobile&quot;:&quot;&quot;}]}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-89723fa\" data-id=\"89723fa\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-23cd5b0 elementor-position-top elementor-widget elementor-widget-image-box\" data-id=\"23cd5b0\" data-element_type=\"widget\" data-widget_type=\"image-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"elementor-image-box-wrapper\"><figure class=\"elementor-image-box-img\"><a href=\"http:\/\/wiki.ros.org\/rviz\" tabindex=\"-1\"><img loading=\"lazy\" decoding=\"async\" width=\"1537\" height=\"905\" src=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/rviz.png\" class=\"attachment-full size-full wp-image-3016\" alt=\"\" srcset=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/rviz.png 1537w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/rviz-300x177.png 300w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/rviz-1024x603.png 1024w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/rviz-768x452.png 768w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/rviz-600x353.png 600w\" sizes=\"(max-width: 1537px) 100vw, 1537px\" \/><\/a><\/figure><div class=\"elementor-image-box-content\"><h4 class=\"elementor-image-box-title\"><a href=\"http:\/\/wiki.ros.org\/rviz\">rviz<\/a><\/h4><p class=\"elementor-image-box-description\">L\u2019outil rviz (ROS Visualization Tool) est un outil de visualisation 3D tr\u00e8s puissant. Il permet de visualiser les donn\u00e9es provenant de capteurs, qu\u2019ils soient r\u00e9els ou simul\u00e9s, ainsi que le mod\u00e8le du robot lui-m\u00eame. Ceci est tr\u00e8s utile pour comprendre le comportement du robot selon ce qu\u2019il voit \u00e0 travers ses capteurs. Par exemple, on peut voir en temps r\u00e9el des points d\u00e9tect\u00e9s par un LIDAR en 3D et valider que les actions du robot respectent le comportement d\u00e9sir\u00e9.<\/p><\/div><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-inner-column elementor-element elementor-element-c51fef9\" data-id=\"c51fef9\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-a90c436 elementor-position-top elementor-widget elementor-widget-image-box\" data-id=\"a90c436\" data-element_type=\"widget\" data-widget_type=\"image-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"elementor-image-box-wrapper\"><figure class=\"elementor-image-box-img\"><a href=\"http:\/\/gazebosim.org\/\" tabindex=\"-1\"><img loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"720\" src=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/gazebo.jpg\" class=\"attachment-full size-full wp-image-3009\" alt=\"\" srcset=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/gazebo.jpg 1280w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/gazebo-300x169.jpg 300w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/gazebo-1024x576.jpg 1024w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/gazebo-768x432.jpg 768w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/gazebo-600x338.jpg 600w\" sizes=\"(max-width: 1280px) 100vw, 1280px\" \/><\/a><\/figure><div class=\"elementor-image-box-content\"><h4 class=\"elementor-image-box-title\"><a href=\"http:\/\/gazebosim.org\/\">Gazebo<\/a><\/h4><p class=\"elementor-image-box-description\">Gazebo, pour sa part, est un simulateur. Il permet de cr\u00e9er des mod\u00e8les de robots ainsi que des sc\u00e9narios et des environnements r\u00e9alistes qui respectent les lois de la physique. Il est \u00e9galement possible de simuler tous types de capteurs. C\u2019est un outil id\u00e9al pour tester ses algorithmes avant de les d\u00e9ployer sur un robot r\u00e9el.<\/p><\/div><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<div class=\"elementor-element elementor-element-d21413c elementor-widget elementor-widget-spacer\" data-id=\"d21413c\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-fbdcccd elementor-widget elementor-widget-heading\" data-id=\"fbdcccd\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Installation<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0749f95 elementor-widget elementor-widget-text-editor\" data-id=\"0749f95\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Maintenant que vous connaissez ROS, il est temps de commencer \u00e0 l\u2019utiliser. La plateforme officiellement support\u00e9e pour son utilisation est Ubuntu, mais il est \u00e9galement possible de l\u2019installer sur d\u2019autres distributions de Linux. Pr\u00e9sentement, la version la plus r\u00e9cente de ROS pour laquelle du support \u00e0 long terme est offert est ROS Melodic, con\u00e7u pour Ubuntu 18.04.<\/p><p>L\u2019installation est tr\u00e8s bien d\u00e9taill\u00e9e <strong><a href=\"http:\/\/wiki.ros.org\/melodic\/Installation\/Ubuntu\">ici<\/a><\/strong> et se fait assez facilement. Ensuite, il faut configurer son environement de travail en suivant ces <strong><a href=\"http:\/\/wiki.ros.org\/ROS\/Tutorials\/InstallingandConfiguringROSEnvironment\">\u00e9tapes<\/a><\/strong>, puis tout est pr\u00eat pour commencer \u00e0 d\u00e9velopper. De tr\u00e8s bons <strong><a href=\"http:\/\/wiki.ros.org\/ROS\/Tutorials\">tutoriels<\/a><\/strong> sont \u00e9galement disponibles pour tous les niveaux.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-31e22f6 elementor-widget elementor-widget-spacer\" data-id=\"31e22f6\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-80e7b58 elementor-widget elementor-widget-heading\" data-id=\"80e7b58\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Conclusion<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-764aade elementor-position-right elementor-vertical-align-top elementor-widget elementor-widget-image-box\" data-id=\"764aade\" data-element_type=\"widget\" data-widget_type=\"image-box.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<div class=\"elementor-image-box-wrapper\"><figure class=\"elementor-image-box-img\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"503\" src=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-melodic.jpg\" class=\"attachment-full size-full wp-image-3012\" alt=\"\" srcset=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-melodic.jpg 512w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2020\/04\/ros-melodic-300x295.jpg 300w\" sizes=\"(max-width: 512px) 100vw, 512px\" \/><\/figure><div class=\"elementor-image-box-content\"><p class=\"elementor-image-box-description\">Bien que ROS soit extr\u00eamement utile pour le d\u00e9veloppement de syst\u00e8mes robotiques, il peut aussi \u00eatre difficile \u00e0 ma\u00eetriser au d\u00e9part. Son utilisation n\u00e9cessite certainement de bonnes connaissances de base du syst\u00e8me d\u2019exploitation Linux, puis, id\u00e9alement, des bases du fonctionnement de syst\u00e8mes r\u00e9seau. Heureusement, le wiki et les tutoriels offerts sont assez utiles. Et bien s\u00fbr, comme pour tout logiciel, il y a aussi beaucoup de ressources disponibles en ligne. \n\nJ\u2019esp\u00e8re que cet article vous a permis de mieux comprendre ce qu\u2019est ROS et comment il fonctionne. Si les projets de Robotique UdeS vous int\u00e9ressent, ou si vous voulez simplement discuter de robotique, n\u2019h\u00e9sitez pas \u00e0 nous contacter, nous sommes toujours ouverts \u00e0 de nouveaux d\u00e9fis!\n<\/p><\/div><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5ff5027 elementor-widget elementor-widget-heading\" data-id=\"5ff5027\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Sources<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-750e05e elementor-icon-list--layout-traditional elementor-list-item-link-full_width elementor-widget elementor-widget-icon-list\" data-id=\"750e05e\" data-element_type=\"widget\" data-widget_type=\"icon-list.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<ul class=\"elementor-icon-list-items\">\n\t\t\t\t\t\t\t<li class=\"elementor-icon-list-item\">\n\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/www.willowgarage.com\/sites\/default\/files\/icraoss09-ROS.pdf\">\n\n\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-icon\">\n\t\t\t\t\t\t\t<i aria-hidden=\"true\" class=\"fas fa-dot-circle\"><\/i>\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-text\">Article original de Willow Garage (2009)<\/span>\n\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t\t<li class=\"elementor-icon-list-item\">\n\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/www.ros.org\/about-ros\/\">\n\n\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-icon\">\n\t\t\t\t\t\t\t<i aria-hidden=\"true\" class=\"fas fa-dot-circle\"><\/i>\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-text\">Site ROS<\/span>\n\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t\t<li class=\"elementor-icon-list-item\">\n\t\t\t\t\t\t\t\t\t\t\t<a href=\"http:\/\/wiki.ros.org\/\">\n\n\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-icon\">\n\t\t\t\t\t\t\t<i aria-hidden=\"true\" class=\"fas fa-dot-circle\"><\/i>\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-text\">Wiki ROS<\/span>\n\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t\t\t<\/ul>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-84cb206 elementor-widget elementor-widget-spacer\" data-id=\"84cb206\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-1045bfe elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1045bfe\" data-element_type=\"section\" data-settings=\"{&quot;jet_parallax_layout_list&quot;:[{&quot;jet_parallax_layout_image&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;_id&quot;:&quot;792370d&quot;,&quot;jet_parallax_layout_image_tablet&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_image_mobile&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;,&quot;size&quot;:&quot;&quot;},&quot;jet_parallax_layout_speed&quot;:{&quot;unit&quot;:&quot;%&quot;,&quot;size&quot;:50,&quot;sizes&quot;:[]},&quot;jet_parallax_layout_type&quot;:&quot;scroll&quot;,&quot;jet_parallax_layout_direction&quot;:null,&quot;jet_parallax_layout_fx_direction&quot;:null,&quot;jet_parallax_layout_z_index&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x&quot;:50,&quot;jet_parallax_layout_bg_y&quot;:50,&quot;jet_parallax_layout_bg_size&quot;:&quot;auto&quot;,&quot;jet_parallax_layout_animation_prop&quot;:&quot;transform&quot;,&quot;jet_parallax_layout_on&quot;:[&quot;desktop&quot;,&quot;tablet&quot;],&quot;jet_parallax_layout_bg_x_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_mobile&quot;:&quot;&quot;}]}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-1526f8b\" data-id=\"1526f8b\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-33ae286 elementor-widget elementor-widget-spacer\" data-id=\"33ae286\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4826ead elementor-view-default elementor-widget elementor-widget-icon\" data-id=\"4826ead\" data-element_type=\"widget\" data-widget_type=\"icon.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-icon-wrapper\">\n\t\t\t<div class=\"elementor-icon\">\n\t\t\t<i aria-hidden=\"true\" class=\"far fa-heart\"><\/i>\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d0093f5 elementor-widget elementor-widget-text-editor\" data-id=\"d0093f5\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p><span data-contrast=\"auto\">Nous aimerions remercier tous nos commanditaires, sans qui nos activit\u00e9s ne seraient pas possibles. Nous vous sommes tr\u00e8s reconnaissants. Merci de nous permettre de r\u00e9aliser des projets concrets, d\u2019avoir un impact sur la communaut\u00e9, et de nous \u00e9panouir tout en nous d\u00e9veloppant personnellement et professionnellement.<\/span><span data-ccp-props=\"{\">\u00a0<\/span><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-312c3d5 elementor-widget elementor-widget-image\" data-id=\"312c3d5\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"119\" src=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2019\/02\/Logo_merkur_haute_r195169solution_.png\" class=\"attachment-full size-full wp-image-1673\" alt=\"\" srcset=\"https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2019\/02\/Logo_merkur_haute_r195169solution_.png 688w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2019\/02\/Logo_merkur_haute_r195169solution_-300x52.png 300w, https:\/\/robotiqueudes.ca\/wp-content\/uploads\/2019\/02\/Logo_merkur_haute_r195169solution_-600x104.png 600w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Un merci tout particulier \u00e0 Merkur gr\u00e2ce \u00e0 qui nous pouvons redonner davantage a la communaut\u00e9.<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-623db70 elementor-align-center elementor-widget elementor-widget-raven-button\" data-id=\"623db70\" data-element_type=\"widget\" data-settings=\"{&quot;turn_to_popup_action_button&quot;:&quot;no&quot;}\" data-widget_type=\"raven-button.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"raven-widget-wrapper\">\n\t\t\t<a class=\"raven-button raven-button-widget-normal-effect-none  raven-button-text-align-center raven-button-link elementor-animation-none\" href=\"https:\/\/robotiqueudes.ca\/partenaires\/\">\t\t\t\t<div class=\"raven-button-overlay\" ><\/div>\n\t\t\t\t<span class=\"raven-button-content\">\n\t\t\t\t\t\n\t\t\t\t\t<div class=\"button-text-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t<div class=\"raven-button-texts-wrapper\">\n\t\t\t\t\t\t\t<div class=\"button-text\">\n\t\t\t\t\t\t\t\t<span class=\"raven-button-text\">\n\t\t\t\t\t\t\t\t\tDevenir partenaire\t\t\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t<\/span>\n\t\t\t<\/a>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ff67855 elementor-widget elementor-widget-spacer\" data-id=\"ff67855\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Bienvenue sur le blog de Robotique UdeS! Sur cette plateforme, nous partageons les avancements de nos projets, ainsi que certaines connaissances techniques qui pourraient vous int\u00e9resser. &times; Rejeter l\u2019alerte ROS : Robot Operating System&nbsp; ROS : Robot Operating System Aujourd\u2019hui, lorsqu\u2019on parle de d\u00e9veloppement robotique, ROS est devenu un incontournable. Cette plateforme open-source facilite l\u2019int\u00e9gration [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":3012,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"acf":[],"_links":{"self":[{"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/posts\/3007"}],"collection":[{"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/comments?post=3007"}],"version-history":[{"count":0,"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/posts\/3007\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/media\/3012"}],"wp:attachment":[{"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/media?parent=3007"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/categories?post=3007"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robotiqueudes.ca\/wp-json\/wp\/v2\/tags?post=3007"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}