Abstract
This tutorial presents how to integrate the Service-Oriented Architecture (SOA) paradigm into Robot Operating System (ROS). The main objective consists in exposing ROS ecosystem as a service that can be invoked by Web Services (WS) clients. This integration enables end-users and client applications to seamlessly interact with the ROS ecosystem via common WS interfaces while hiding all implementation details of the applications deployed in the ROS middleware. By the end of this tutorial, the reader will be able to develop web services that expose ROS topics and services to the end-users and client applications. This tutorial was developed under Ubuntu 12.4 and for ROS Hydro version.