WEBVTT 00:00.510 --> 00:05.460 Taking into consideration the needs that have arisen in the robotic software community. 00:05.640 --> 00:13.020 The architecture of Ros has been ripped off and redesigned to provide developers with a better and more 00:13.020 --> 00:14.880 robust user experience. 00:15.700 --> 00:23.110 At the core of Rosciszewo lies the DDS middleware used for message exchange between different nodes 00:23.110 --> 00:26.650 and between the various applications running on the robot. 00:27.300 --> 00:32.190 This forms the backbone of two and consequently of our robot. 00:32.220 --> 00:38.790 As the message exchange is fundamental to any application involving the exchange of information between 00:38.790 --> 00:47.010 different nodes, DBS is an industrial grade communication protocol that provides node discovery, message, 00:47.010 --> 00:50.100 serialization and message transport capabilities. 00:50.250 --> 00:57.300 It has been used for the communication in various domains, from finance to space and also to railway 00:57.330 --> 00:58.410 transportation. 00:58.710 --> 01:06.810 Due to its stability and robustness, it is considered a reliable protocol that has adapted to applications 01:06.810 --> 01:10.290 requiring secure and reliable communications. 01:11.170 --> 01:15.390 A given that Deeds is an established and stable protocol. 01:15.400 --> 01:21.550 There are already several companies and organizations offering their deeds implementations. 01:21.850 --> 01:29.290 In the case of Ros2, since there is no one size fits all solution suitable for every robot and scenario, 01:29.320 --> 01:37.210 the decision was made to support multiple implementations, including commonly used ones such as Cyclone 01:37.230 --> 01:41.260 DVS, Fast DDS and Connext DDS. 01:42.050 --> 01:48.200 Once the communication protocol and the middleware are chosen, the Ros two interface that used these 01:48.200 --> 01:48.740 middleware. 01:48.740 --> 01:52.760 So one of the available implementation was then developed. 01:53.210 --> 01:58.400 This component is called Ros Middleware, also known as W. 01:59.300 --> 02:06.950 With the communication protocol set the logic so the brain and the core functionality of ros2 was developed 02:06.950 --> 02:13.550 in a layer called Ros2 Client library or RCL for short. 02:13.940 --> 02:20.990 This layer fully developed in C and C plus plus contains all the functionality of Ros2, which are then 02:21.020 --> 02:25.460 offered to the robotic software developer to implement their applications. 02:26.150 --> 02:32.840 Furthermore, to provide complete freedom to the developers to use their favorite programming language 02:32.840 --> 02:34.940 for developing new applications. 02:34.940 --> 02:43.160 Many interfaces and API were implemented to enable the usage of the Ros Client Library with different 02:43.160 --> 02:44.450 programming languages. 02:44.900 --> 02:49.880 The most commonly used include C plus plus Python and Java. 02:51.230 --> 02:57.440 These interfaces and libraries are the ones that we are going to use in this course to develop applications 02:57.440 --> 02:58.550 for our robot. 02:59.000 --> 03:08.120 Specifically, we will use Rql CPP to develop Cplusplus applications that use the Ross Client Library 03:08.120 --> 03:10.370 so that use the rql. 03:10.670 --> 03:17.150 And also we are going to use the RCL pi to use the client library in Python scripts.