February 22, 2018
New Packages for Kinetic 2018-02-22

@tfoote wrote:

We’re happy to announce that there are 70 new packages and 85 updated packages for Kinetic. There are 4 packages that have regressed, but the maintainers are reviewing them and I expect them to return in the next sync.

As always please make sure to acknowledge and thank all the maintainers and contributors who help make these packages available to the whole community. Their efforts are invaluable.

Details of the sync are below.

Package Updates for kinetic

Added Packages [70]:

Updated Packages [84]:

Removed Packages [4]:

Thanks to all ROS maintainers who make packages available to the ROS community. The above list of packages was made possible by the work of the following maintainers:

  • Aaron Blasdel
  • Alexander W. Winkler
  • Benjamin Binder
  • Daisuke Sato
  • Daniel Stonier
  • David V. Lu!!
  • Davide Faconti
  • Dirk Thomas
  • Ed Venator
  • Elliot Johnson
  • Franka Emika GmbH
  • Geoff Viola
  • George Todoran
  • Jeremie Deray
  • Jim Vaughan
  • Karsten Knese
  • Kris Kozak
  • Marc Alban
  • Marine Chamoux
  • Markus Bader
  • Martin Guenther
  • Martin Günther
  • Michael Ferguson
  • Nick Sullivan
  • Patrick Beeson
  • Peter Weissig
  • Pyo
  • ROS Orphaned Package Maintainers
  • Raphael Hauk
  • Russel Howe
  • Sam Pfeiffer
  • Sammy Pfeiffer
  • Scott K Logan
  • Tim Liu
  • Tokyo Opensource Robotics Kyokai (TORK) Developer Team
  • Vincent Rousseau
  • Vladimir Ermakov
  • Wayne Gramlich

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by @tfoote Tully Foote on February 22, 2018 09:36 PM

New Packages for Indigo 2018-02-22

@tfoote wrote:

We’re happy to announce 3 new packages and 45 updated packages for Indigo.

Thank you to all the contributors and maintainers who help make these packages available!

Full details are below.

Package Updates for indigo

Added Packages [3]:

Updated Packages [45]:

Removed Packages [0]:

Thanks to all ROS maintainers who make packages available to the ROS community. The above list of packages was made possible by the work of the following maintainers:

  • Alexander W. Winkler
  • Davide Faconti
  • Dirk Thomas
  • Ed Venator
  • Elliot Johnson
  • Heiko Hirschmueller
  • Jennifer Buehler
  • Jeremie Deray
  • Justin Huang
  • Karsten Knese
  • Kris Kozak
  • Marc Alban
  • Marine Chamoux
  • Martin Günther
  • Matthew Liu
  • Sammy Pfeiffer
  • Tim Liu
  • Tokyo Opensource Robotics Kyokai (TORK) Developer Team

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by @tfoote Tully Foote on February 22, 2018 09:33 PM

Save the date: ROSCon 2018 in Madrid Sep 29-30

@gerkey wrote:

Save the date: we’re happy to announce that ROSCon 2018 will be held September 29-30, 2018 at the NH Collection Eurobuilding in Madrid, Spain. IROS 2018 will be held at the nearby Madrid Municipal Conference Centre October 1-5, so plan to attend both of these great events!

Stay tuned for more information on ROSCon 2018.

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by @gerkey gerkey on February 22, 2018 05:31 PM

February 21, 2018
ROSIN: Why Should You Care About Quality?

This is a guest post by Adam Alami, IT University of Copenhagen, who is a Ph.D. Fellow, tasked with stewarding the assessment of quality of ROS/ROS-Industrial and developing the roadmap for the realization of Quality Assurance and the tools and ecosystem to support that goal.


The answer to the question, “Why should you care about quality?” is simply that we all want code that delivers value. In the context of software engineering, value is achieved when the code is defect-free, reliable, and integrates quickly. In view of this, ROSIN is a step toward higher-quality intelligent robot software components for industry. ROSIN is an initiative to create a set of tools to speed up ROS use and integration. “Quality” is a feature of the end product that is achieved through a set of tools and practices known as quality assurance.

The goal of ROSIN is to create quality assurance utilities and practices for ROS to improve its quality. This will be met through the implementation of these initiatives:

  1. Make ROS packages’ quality visible: Create a process/tool where packages’ quality can be measured, assigned, and displayed.

  2. Appoint ownership: Appoint ownership of quality assurance practices and infrastructure.

  3. Energize the code review process: Code review is an existing process; unfortunately, it is loosely implemented and practiced. The aim of this initiative is to bring this practice back to ROS QA core quality practices.

  4. Implement a code scanning method and tool.

  5. Maintenance issues: The objective is to attract and recruit new maintainers and reduce the number of orphan packages.

  6. Energize Continuous Integration: This initiative will review and enhance the current implementation of the Continuous Integration (CI) services.

  7. Quality Hub website: This will be a central “go-to” place for QA knowledge sharing and documentation of QA practices.

  8. Formalize the code ownership process: Currently, the community has an informal code ownership practice. Defining and implementing a code ownership process will establish the responsibility relationship for a software component and a responsible developer.

  9. Onboarding process for core and non-core community members: The onboarding process is exercised each time a new member joins the core team or a new maintainer. Newcomers are integrated faster, and knowledge is transferred seamlessly. This should improve retention of newcomers.

  10. Model-in-the-Loop testing: This will identify and demonstrate opportunities to use the paradigm of model-driven development for code generation.

  11. Implement a continuous improvement process: A continuous improvement process is an ongoing effort to improve quality assurance practices. These efforts are the incremental review and improvement of practices already in place. This is a set of community activities and processes to ensure the survival and continuity of quality assurance practices.

  12. Automated unit test generation: The goal of this initiative is to automate the creation of tests. The work includes the following:

    1. Developing and demonstrating property tests and test-data synthesis for diverse parts of ROS

    2. Producing guides for developers to continue using these tests

    3. Developing the automated test generation algorithms

    4. Evaluating, selecting, and integrating combinatorial interaction testing methods for the purpose of ROS

  13. Quality Discourse: This is a forum dedicated to quality assurance.

  14. QA promotion events: Regular community campaigns will promote QA practices or support a particular community need. Ideas for campaigns: Bug Crushing party – A regular event where volunteers meet up (virtually or collocated physically) to fix bugs.

  15. Model-driven development: Identify and demonstrate opportunities to use the paradigm of model-driven development for code generation.

  16. #ROSQA: Twitter hashtag; possibly link the “Quality Hub” account to the hashtag for synergy.

By establishing standards, practices, and tools, quality is assured and emerges in the culture of the community. Quality influences trust as well as brand value. Maximizing trust in ROS and ROS-Industrial will come through providing evidences that quality requirements are taking place in the production process of the community. Today, ROS is one of the de facto operating systems for robotics. This status comes with an inherent commitment to quality.

By establishing standards, practices, and tools, quality is assured and emerges in the culture of the community. Quality influences trust as well as brand value. Maximizing trust in ROS and ROS-Industrial will come through providing evidences that quality requirements are taking place in the production process of the community. Today, ROS is one of the de facto operating systems for robotics. This status comes with an inherent commitment to quality.

Learn more at: http://rosin-project.eu

Recent presentation from ROS-I Conference 2017 hosted by Fraunhofer IPA, HOW DOES ROS CARE ABOUT QUALITY?, by Yvonne Dittrich provides additional insight.

by Matthew Robinson on February 21, 2018 07:43 PM

February 20, 2018
Call for participation: ROS Developers Online Conference 2018

@YUHONG_LIN wrote:


RDC2018 - ROS Developers Conference
A practical online ROS conference for ROS developers worldwide
July 7-8, 2018
Conference website and Registration: http://www.rosdevcon.com

===Important Dates===
Submission deadline: April 30, 2018
Notification of acceptance: May 15, 2018
Final tutorial submission: June 7, 2018
Early registration deadline: May 7, 2018

===Call for Participation===

The first ROS Developers Online Conference will be held from July 7 to Jul 8, 2018. This is a completely practical conference for ROS developers. The conference aims to connect ROS developers around the world without geographical restrictions and to advance ROS levels through real-time practice.

We will host eight top ROS developers to give tutorials of real ROS projects: during the conference, all participants will program together the projects at the same time with the speaker.

  • All the participants will have to practice at the same time with the speaker along the conference.
  • No installation of anything required. Only require a computer and internet connection. Any type of computer will work.
  • All the participants will have full access to the ROS development studio for programming
  • All participants will receive a pdf document with all the steps described during the conference
  • All the participants will receive a copy of the ROS Developers Guide e-book.
  • Each speech will be 30 minutes plus 10 minutes Q&A.

===Keynote Speakers===
Dr. Enrico Mingo Hoffman (Post-Doc at Fondazione Istituto Italiano di Tecnologia)
Román Navarro García (CTO of Robotnik Automation www.robotnik.com)

===Call for Tutorials==
Full length tutorial: 30 mins

Tutorial should target fields of robotics using ROS and focus on practice, in order to provide a real practical conference to participants and to exchange developing research results and ideas. The submission of a tutorial must contain the following information:

-Speaker Information
-Statement of objectives: what is your speech about and what are you going to make attendants practice

The proposals must be sent to this address: tutorial@rosdevcon.com

The Construct
You can contact us with questions and doubts here: info@rosdevcon.com

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by @YUHONG_LIN on February 20, 2018 01:29 PM

February 16, 2018
Provide official Raspbian packages

@christian wrote:

There seems to be a lot of interest in using ROS on Raspberry Pis. The solutions that I have seen so far are either to compile ROS manually for Raspbian, which is not straightforward, or to just use Ubuntu on Raspberry Pi 2 or 3.
However, Raspbian still provides the best support for all Raspberry Pi versions, including version 1 and Zero, and I think that officially supporting Raspbian by providing Debian packages would help a lot of people to get started with ROS on Raspberry Pi.

What are the blocking issues that prevent the build farm to build Debian packages for Raspbian Stretch? The only issue I see are the drivers for low-level camera and media-codec access, which are not available on other distributions. Apart from this, Raspbian Stretch contains all necessary packages to build the full ROS desktop stack.

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by @christian Christian Rauch on February 16, 2018 12:20 AM

February 15, 2018
New Packages for Lunar 2018-02-15

@marguedas wrote:

We’re happy to announce the availability of 1 new package and 79 updated packages for ROS Lunar.

As always thank you to all the maintainers who are making these releases as well as all the contributors who have helped contribute to these releases. Full details are below.

Package Updates for lunar

Added Packages [1]:

  • ros-lunar-phidgets-ik: 0.7.5-0

Updated Packages [79]:

Removed Packages [0]:

Thanks to all ROS maintainers who make packages available to the ROS community. The above list of packages was made possible by the work of the following maintainers:

  • Alexander W. Winkler
  • Ben Charrow
  • Davide Faconti
  • Dirk Thomas
  • Ed Venator
  • Elliot Johnson
  • Geoff Viola
  • Kris Kozak
  • Marc Alban
  • Martin Guenther
  • Martin Günther
  • Patrick Beeson
  • Russel Howe
  • Sam Pfeiffer
  • Scott K Logan
  • Vladimir Ermakov

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by @marguedas Mikael Arguedas on February 15, 2018 05:09 PM

February 14, 2018
A do-it-yourself Turtlebot

@pitosalas wrote:

I am teaching a class to Computer Science students (clever software but not hardware types). I thought it would be a good experience to actually build or own turtlebot-like robot, not literally from a kit, but from a pre-acquired set of parts that I knew would go together. It would give them a more visceral experience of building. Our goal is to do mobile navigation with ROS, so we are also using off-the-shelf Robotis Turtlebot3 but they are very small and a “real” Turtlebot2 costs like $2K. Any links or suggestions from those of you who have traveled the same road?

(Not sure if this question should’ve been on answers.ros.org.)

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by @pitosalas Pito Salas on February 14, 2018 08:40 PM

ROS Ardent Apalone Tshirt Campaign Until March 2nd

@tfoote wrote:

Following the tradition of ROS release tshirts we have created a campaign for Ardent. It was kicked off last week with the ardent update As usual this is a limited time campaign. The shirts will only be available to order until March 2nd.

Order from the US:

Or order from the EU:

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by @tfoote Tully Foote on February 14, 2018 07:32 PM

Gazebo9 ROS Kinetic/Lunar wrappers available

@jrivero wrote:

Hi all:

The stable repository packages.osrfoundation.org now hosts the ROS Kinetic and ROS Lunar wrappers binaries for the latest release of Gazebo: gazebo9. Both are only available on Ubuntu Xenial since it is the only common platform supported by ROS and gazebo9.

Before using this alternative version of Gazebo in Lunar or Kinetic, please read carefully the documentation:


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by @jrivero Jose Luis Rivero on February 14, 2018 07:26 PM

ROS-Industrial Migration to Discourse

Today, February 14th, we notified the ROS-I users Google Group, about an upcoming transition to Discourse on March 1. I have included the letter below that was provided to the Google Group members. We are excited to be part of the ecosystem over at Discourse and hope that it drives improved collaboration, synergy, and interaction with the broader ROS Community.

We look forward to this transition, but of course with any change, there can be problems. Please feel free to comment below, or reach out directly if you have questions and/or concerns.


“In recent years there has been a migration, related to ROS/ROS-related discussions, Q&A, and collaboration to ROS Discourse (discourse.ros.org). At ROS-Industrial we see this year as the time to move over to Discourse as well, and retire the ROS-I Google Group, swri-ros-pkg-dev. This obviously does not come without some consideration and a migration plan. The target date for the transition is March 1. The content that is currently within the forum over at the Google Group will be kept available for reference, as read-only, and inquiries to swri-ros-pkg will be met with an automatic reply to direct inquiries to the ROS-Industrial Discourse category.

For users the move to Discourse should be quite convenient and efficient. Accounts from GitHub, or Google, may be used, so no new accounts will be needed in those cases.

We hope that this change is welcomed as it drives synergy with the broader ROS community, and allows for a true “one stop” in discussion and collaboration on all things ROS. To start there will be an ‘ROS-Industrial’ category, with subcategories developed when traffic merits the creation of subcategories.

We would like to thank our friends over at Open Robotics for helping us out with this change.”

by Matthew Robinson on February 14, 2018 05:34 PM

AssertionError: Could not find pytest

@RAM46 wrote:

I used the below link to build ros2,

when i tried testing and running using,

python src\ament\ament_tools\scripts\ament.py test

python src\ament\ament_tools\scripts\ament.py test_results

i got an error,

Traceback (most recent call last):
File “src\ament\ament_tools\scripts\ament.py”, line 161, in
sys.exit(main() or 0)
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\commands\ament.py”, line 88, in main
rc = args.main(args)
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\verbs\test\cli.py”, line 60, in main
build_main(opts, test_pkg_main_wrapper)
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\verbs\build\cli.py”, line 172, in main
return iterate_packages(opts, packages, per_package_main)
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\verbs\build\cli.py”, line 300, in iterate_packages
rc = process_sequentially(jobs)
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\verbs\build\cli.py”, line 340, in process_sequentially
rc = job’callback’
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\verbs\test\cli.py”, line 50, in test_pkg_main_wrapper
rc = test_pkg_main(opts)
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\verbs\test_pkg\cli.py”, line 83, in main
handle_build_action(on_test_ret, context)
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\verbs\build_pkg\cli.py”, line 268, in handle_build_action
for build_action in build_action_ret:
File “C:\dev\ros2\src\ament\ament_tools\ament_tools\build_types\ament_python.py”, line 118, in on_test
assert pytest, 'Could not find pytest’
AssertionError: Could not find pytest

Please help me get over this issue. Thanks.

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by @RAM46 Ram on February 14, 2018 02:23 AM

February 13, 2018
TIAGo spotted at the Joint UAE Symposium on Social Robotics!

Robots can become the best companions for humans. Our life quality can extraordinarily improve in all aspects of our daily routine, and reshape how we manage (and enjoy) our time. For that to happen, we need to make robots social.


It may look simple, but is a challenge for the whole robotics community. This is why around 30 experts from all over the world digged deep in the world of social robots during the 3rd Joint UAE Symposium on Social Robots (JSSR2018), organized by NYUAD and UAEU. The definition of “social robotics” and the latest advances on the field were some of the big topics addressed by the speakers, each of which came from different backgrounds, which greatly enriched the Conference.

TIAGo-robot-PAL-Robotics-at-NYUADAmongst the multidisciplinary experts there was PAL Robotics’ CEO, Francesco Ferro, who gave a keynote as an example of how PAL Robotics actually builds social robots for assisting people. Ferro explained what do we take into consideration when designing and creating robots like TIAGo, which have clear purposes of supporting old and disabled people at home, and has also abilities to become a skillful aide as a collaborative robot for factory operators.

Thanks to NYUAD and UAEU to host and organize the JSSR2018. It was a pleasure for PAL Robotics to share our expertise developing some of the most advanced robots in the world. Shaping the future to be a better destination by using robotics in our life is a promising challenge that we as a community can only achieve all together!

A stop at the Khalifa University’s Open Day

TIAGo-robot-PAL-Robotics_Khalifa-universityOn its tour through UAE, TIAGo could also pay a visit to the Open Day of Khalifa University. The robot could see the exhibition of amazing research that is currently going on there, and enjoyed some good times at its College of Engineering, meeting students and taking some selfies!

The post TIAGo spotted at the Joint UAE Symposium on Social Robotics! appeared first on PAL Robotics Blog.

by Judith Viladomat on February 13, 2018 10:05 AM

February 12, 2018
RFC on updated REP 149: Add optional 'file' attribution to license tag in package.xml

@otamachan wrote:

Hi all,

I would like to propose adding an optional ‘file’ attribution to the license tag in package.xml.
The motivation here is that some OSS licenses require provision of license text when a user redistribute the software in a binary form, but currently it’s not easy to find it because we have to grep all the source codes. I think adding the file attribution to point the right license text file in a repository will help a user or a tool to do this easier.
I have made a PR to update REP-149 which is the candidate of the next package.xml format. Please review and comment on the PR if you have any concern or better idea.

Thank you.

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by @otamachan Tamaki Nishino on February 12, 2018 10:02 PM

February 11, 2018
How to specify the boost path

@Yuhui_ZHI wrote:

For some reason, I have to compile ROS1 from the source.

I just follow the steps here: http://wiki.ros.org/kinetic/Installation/Source

However, when I execute ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release, I get an error about boost: No rule to make target '/usr/lib/libboost_thread.so'.

My system is Ubuntu and I’ve installed boost: apt install libboost-all-dev. I found all libboost files here: /usr/lib/x86_64-linux-gnu. This is why it can’t find boost in usr/lib/.

I just want to know how to tell ROS to find boost at some specific path?

I’ve tried export ROS_BOOST_ROOT=/usr/lib/x86_64-linux-gnu and export ROS_BOOST_PATH=/usr/lib/x86_64-linux-gnu but it doesn’t work.

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by @Yuhui_ZHI Yuhui Zhi on February 11, 2018 02:46 AM

February 10, 2018
New packages for Ardent 2018-02-09

@nuclearsandwich wrote:

Happy Friday. The ROS 2 team is pleased to present the first update to ROS 2 Ardent Apalone.

Highlights in this release:

  • rviz2 for Windows
  • Release of the ros_environment package which provides the environment variables specified in REP149
  • Bug fixes in the included version of Fast-RTPS
  • Fix for include path order in rosidl ros2/rosidl#261

To celebrate, we present the official release illustration for ROS 2 Ardent Apalone

Which you can get printed on a shirt or jacket during our t-shirt campaign (use this link for the EU distribution center). The campaign will end March 2nd.

As always, we invite you to try out the new software, give feedback, report bugs, and suggest features (and contribute code!): https://github.com/ros2/ros2/wiki/Contact

So pull down an archive release, grab the packages from the Ubuntu repos, or build it from source and let us know what you think.

Your friendly neighborhood ROS 2 Team

Package Updates for ardent

Added Packages [1]:

  • ros-ardent-ros-environment: 2.0.0-0

Updated Packages [22]:

  • ros-ardent-amcl: 3.0.0-0 -> 3.0.0-1
  • ros-ardent-fastrtps: 1.5.0-10 -> 1.5.0-12
  • ros-ardent-libcurl-vendor: 2.0.0-0 -> 2.0.2-2
  • ros-ardent-map-server: 3.0.0-0 -> 3.0.0-1
  • ros-ardent-pluginlib: 2.0.0-0 -> 3.0.0-0
  • ros-ardent-python-cmake-module: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-resource-retriever: 2.0.0-0 -> 2.0.2-2
  • ros-ardent-rosidl-cmake: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-rosidl-generator-c: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-rosidl-generator-cpp: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-rosidl-generator-py: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-rosidl-parser: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-rosidl-typesupport-interface: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-rosidl-typesupport-introspection-c: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-rosidl-typesupport-introspection-cpp: 0.4.0-0 -> 0.4.1-0
  • ros-ardent-rviz-assimp-vendor: 2.0.0-5 -> 3.0.0-1
  • ros-ardent-rviz-common: 2.0.0-5 -> 3.0.0-1
  • ros-ardent-rviz-default-plugins: 2.0.0-5 -> 3.0.0-1
  • ros-ardent-rviz-ogre-vendor: 2.0.0-5 -> 3.0.0-1
  • ros-ardent-rviz-rendering: 2.0.0-5 -> 3.0.0-1
  • ros-ardent-rviz-yaml-cpp-vendor: 2.0.0-5 -> 3.0.0-1
  • ros-ardent-rviz2: 2.0.0-5 -> 3.0.0-1

Removed Packages [1]:

  • ros-ardent-rviz-rendering-tests

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by @nuclearsandwich Steven! Ragnarök on February 10, 2018 01:38 AM

February 09, 2018
Collection of key papers on mobile robotics

@pitosalas wrote:

I’ve read a number of what I would consider the key papers on robotics and mobile robotics in particular. But I am wondering if there’s a well respected list or handbook on the topic that would be a useful review of the space.

If you want to give me comments on the list I’ve collected up to now: http://campusrover.org.s3-website-us-west-2.amazonaws.com/content/background/00_key_papers.md/

What would you add and what would you delete?


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by @pitosalas Pito Salas on February 09, 2018 07:42 PM

ERL Edinburgh and León Tournaments: last chance for teams to score!

The European Robotics League (ERL) Season is about to finish! Two Service Robotics tournaments were the last opportunity for teams to improve their positions in the global classification, which will be announced in the European Robotics ForumLots of TIAGos were seen in the last tournaments of this season, which were held in León (Spain) and Edinburgh (UK) on the last week of January. Three teams shared with us their experiences, challenges and sensations there!

Ambitious achievements

HEARTS Team participated in almost all tests in Edinburgh SR Tournament, adding two new benchmarks. “One breakthrough we had was in our person tracking algorithm. It had been a little flaky in testing but we made many improvements during the competition and were able to achieve good performance by the end”, team points out.

Navigation tests were the focus of Robotics Lab UC3M Team in León, and were fairly satisfied with their final scores. “Participating in tournaments like this helps a lot in defining goals and improving the work capacity when solving unexpected problems along the tournament, in real situations”, they highlight.

IRI@ERL Team set two goals for Edinburgh: improve object detection algorithms, and be capable of grasping objects. It was ambitious and they faced problems, but are happy with the outcome: “As the saying goes: nothing ventured, nothing gained! At the same time, we greatly improved objects detection and position calculation. Thanks to this we could do object manipulation, automatized and avoiding obstacles. A major success given the little time our team had for preparation”, team says.

The ERL adventure

Enjoyable, intense and challenging: this is how teams mostly describe ERL. An example of this is the HEARTS performance in Edinburgh: “We’d been a little overambitious in our objective to compete in two new benchmarks and arrived under-prepared. We worked extremely hard over the week to improve our performance, achieving good scores in both benchmarks by the end of the competition.”

In this direction, Robotics Lab UC3M Team shares: “The experience was certainly positive, because ERL reflects the efforts made in the laboratory to prepare for the competition. Since the tournament is part of a League, the mere fact of participating is already a challenge to improve the programming needed in order to successfully perform the tests”.

“One of the greatest ERL SR virtues is the healthy competition that is generated between all teams. There’s enough communication to learn how each team faces the same problem and in this way, we can all improve algorithms for future tests”, spotlights IRI@ERL Team.

An ERL full of TIAGos!

The three teams had a TIAGo as a team member, and all agree in standing out its robustness and reliability both in hardware and software. Robotics Lab UC3M explains that due to TIAGo’s good behaviour, they could focus on developing high level functionalities for it. “We have to point out the navigation system implemented in the robot, very efficient in varying environments, as we could verify”, they stressed.

“TIAGo has proven to be an ideal platform for both assistential and service robotics. Its dimensions and manoeuvrability are excellent to navigate in domestic environments, as we experienced in the diverse testbeds”, told us IRI@ERL Team. They also liked its large workspace, “provided by TIAGo’s arm position and lifting torso, which makes it easy to manipulate objects in diverse heights.”

Congratulations to all teams! We look forward to seeing you all at the final classification announcement at the European Robotics Forum, in Tampere (Finland)!

The post ERL Edinburgh and León Tournaments: last chance for teams to score! appeared first on PAL Robotics Blog.

by Judith Viladomat on February 09, 2018 11:14 AM

February 08, 2018
ROS Users in Southern UK

@JoeRobo wrote:

Hello everyone.

I have been doing plenty of work with ROS, some successes some fails!
It would be great to share my experiences with others and get some hints and tips from experts nearby.

Are there any ROS users in the Southern Half of the UK (Great Britain) that would be interested in meeting up? Does anyone know which universities nearby are making use of ROS?

I am based in the Portsmouth/Southampton area, looking at outdoor robots for farming.

Thanks in advance.


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by @JoeRobo Joe on February 08, 2018 03:11 PM

Download the 'ROS Robot Programming' Book for Free!

@Pyo wrote:

Hi everyone, :slight_smile:

I’m happy to announce a new ROS book: “ROS Robot Programming, A Handbook is written by TurtleBot3 Developers”. Now, this book has been published English and Chinese versions. You can download the pdf of this book at the link below.

The authors of the book want to say thanks to Morgan, Tully, Brian of OpenRobotics and all ROS development team, maintainers and contributors. This book is an expression of gratitude to all ROS community members. We hope this book help on that effort and look forward to everything we can do with you in the future.



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by @Pyo Yoonseok Pyo on February 08, 2018 08:21 AM

February 07, 2018
ROS2: Cannot run my Python script, "No executable found" error

@ArkadiuszN wrote:

I am trying to build my python package in ROS2. I have copied the code from minimal_publisher example and just changed some names. After building and trying to run it I get: No executable found.

I am building using src/ament/ament_tools/scripts/ament.py build --symlink-install --only-package rtcm_publisher
and running source ~/ros2_ws/install/local_setup.bash after build.

What am I doing wrong?

My code here:


package_name = 'rtcm_publisher'

            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
    author='Mikael Arguedas',
    maintainer='Mikael Arguedas',
        'Intended Audience :: Developers',
        'License :: OSI Approved :: Apache Software License',
        'Programming Language :: Python',
        'Topic :: Software Development',
    description='Examples of minimal publishers using rclpy.',
    license='Apache License, Version 2.0',
        'console_scripts': [
            'rtcm_publisher_old = rtcm_publisher_old:main'


<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
  <description>Examples of minimal publishers using rclpy.</description>

  <maintainer email="mikael@osrfoundation.org">Mikael Arguedas</maintainer>
  <license>Apache License 2.0</license>


  <!-- These test dependencies are optional
  Their purpose is to make sure that the code passes the linters -->
  <!-- <test_depend>ament_copyright</test_depend>
  <test_depend>ament_pep257</test_depend> -->



# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#     http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# See the License for the specific language governing permissions and
# limitations under the License.

from time import sleep

import rclpy

from std_msgs.msg import String

# We do not recommend this style as ROS 2 provides timers for this purpose,
# and it is recommended that all nodes call a variation of spin.
# This example is only included for completeness because it is similar to examples in ROS 1.
# For periodic publication please see the other examples using timers.

def main(args=None):

    node = rclpy.create_node('rtcm_publisher')

    publisher = node.create_publisher(String, 'topic')

    msg = String()

    i = 0
    while rclpy.ok():
        msg.data = 'Hello World: %d' % i
        i += 1
        node.get_logger().info('Publishing: "%s"' % msg.data)
        sleep(0.5)  # seconds

    # Destroy the node explicitly
    # (optional - otherwise it will be done automatically
    # when the garbage collector destroys the node object)

if __name__ == '__main__':

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by @ArkadiuszN Arkadiusz on February 07, 2018 03:50 PM

Announcing the Hardware Robot Information Model (HRIM)

@vmayoral wrote:

Hello everyone,

It’s a pleasure for me to announce the release of the 0.1.0 version of the Hardware Robot Information Model (HRIM) available at https://github.com/erlerobot/hrim.

HRIM is a common interface that facilitates interoperability among different vendors of robot hardware components with the purpose of building robot modules and thereby, modular robots. HRIM focuses on the standardization of the logical interfaces between robot modules, designing a set of rules that each device has to meet in order to achieve interoperability. It tackles the problem of incompatibility between robot components that hinder the reconfigurability and flexibility demanded by the robotics industry. In a nutshell, HRIM presents a model to create plug-and-play robot hardware components. HRIM builds upon the ROS component model and although we envision its expansion to support other framework alternatives, currently a ROS 2.0 implementation is available at https://github.com/erlerobot/hrim.

In short, the robot modules have been classified in 6 (actually, there’s a seventh, composites that is a work in progress) types of modules which correspond to the task they can perform: sensing, actuation, communication, cognition, user interfaces or power. Each type is composed by sub-types or devices, related to the functionality of the component. For example, a camera is a sub-type of the sensor type. The following image pictures the HRIM component model for each device (or sub-type):

HRIM has been presented to national experts at the International Standardization Organization (ISO) within the scope of the standardization in the field of robotics, excluding toys and military applications (ISO/TC 299). Particularly, it has been introduced within the ongoing standard ISO/CD 22166–1 which treats modularity for service robots.

HRIM also conforms with the following pre-existing international standards:
OpenEL 3.0

In addition, Fraunhofer IPA — the largest research organization for applied research in Europe — is currently looking at HRIM to adopt it and extend it for several projects. Mirko Bordignon, group manager at Fraunhofer IPA said:

After years of experience designing, developing, and deploying software on robotic systems, we fully subscribe to the objectives stated in the HRIM manifesto: working towards true “plug and play” hardware modules through a standardized information model, which merges the inputs and feedback gathered from open-source communities with the stability and platform-independence required by standardization bodies. We look forward to contribute our experience to further advancing HRIM towards this goal!

Similarly, HRIM picked the interest of the ROS-Industrial (ROS-I) Europe consortium during the last ROS-I conference where HRIM was introduced.

Feedback, criticism and contributions are more than welcome. A complete writeup and description of the release is available at https://hackernoon.com/introducing-the-hardware-robot-information-model-hrim-8f0da3f22f67.


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by @vmayoral Víctor Mayoral Vilches on February 07, 2018 11:04 AM

Newbie 2d navigation question

@gazialankus wrote:

I’m a ROS newbie that wants to pland and move some mobile robots around in 2D. I have ROS topics ready to get the robot position and to move the robot. Localization is through a camera, so the map is known. I’m trying to understand how to use ROS to make use of path planning algorithms in which I can define obstacles and make use of OMPL, which seems to be provided through MoveIt!.

Here’s my understanding about the related things in ROS. Please kick me in the right direction and tell me if I don’t get it.

http://wiki.ros.org/navigation seems to be focused on setting up and using the onboard camera etc. I assume I have the perfect 2D map, so this does not seem applicable to my situation.

http://docs.ros.org/kinetic/api/moveit_tutorials/html/ seems like what I may need, but it seems to be focused on articulated robots more. Do I need to setup with the following tutorial?
It seems like it’s for articulated robots, though: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html

All I want is to plan and move in 2D and use ROS while doing that. Are these links overkill for me? What plan should I follow?


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by @gazialankus Gazihan Alankus on February 07, 2018 08:50 AM

February 05, 2018
New Tutorial: rqt_bag plugins

@DLu wrote:

Hey ROStronauts,
I’ve written a new tutorial on making customized displays for bagged data using rqt_bag, allowing you to customize what is drawn on the timeline and create custom displays for individual messages (beyond just the raw message contents). Bonus: rqt_bag is Python, so you don’t have to deal with the black compiler magic involved in writing rviz plugins.

Create an rqt_bag plugin

David Lu!!
Locus Robotics

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by @DLu David!! on February 05, 2018 05:56 PM

Statically linking xmlrpcpp (L-GPL), how roscpp is licensed as BSD?
DISCLAIMER: This is just a note for my finding, which by no means is guaranteed to be legally correct.

`roscpp` statically links `xmlrpcpp` (see #1).

ROS' xmlrpcpp is licensed as L-GPL.

As long as an application linking statically to an L-GPL library must conform to certain conditions, static linking under certain condition is possible, which `roscpp` qualifies for.

> statically linked:
> -  Either you must release both parts as LGPL.
> -  Or provide everything that allow the user to relink the application with a different version of the LGPL source code. In this case the other requirements are the same as if it was dynamically linked.

By being opensource-d, roscpp qualifies the 2nd option.

That said, how can roscpp be licensed under BSD, not L-GPL?

This is what I'm still not entirely sure about, but BSD is GPL-compatible so as long as the above condition is met it can be licensed differently AFAIU.


    $ roscd ros_comm
    $ git log -1
    commit 1b8fe87ccd662b597faf2d6ae0f862096c7d96a3
    Author: Dirk Thomas <dirk-thomas@users.noreply.github.com>
    Date:   Fri Feb 2 16:04:30 2018 -0800
        Add process listeners to XML RPC server (#1319)
        When a process on a remote machine dies, the `process_died` callback of
            the server is called.  However, the process listeners given to
        `ROSLaunchParent` need to be forwarded to the server, otherwise they
            cannot be called.
    $ ack-grep -B 1 -A 2 xmlrpcpp .
    35-  <build_depend>std_msgs</build_depend>
    36:  <build_depend>xmlrpcpp</build_depend>
    38-  <run_depend version_gte="0.3.17">cpp_common</run_depend>
    45-  <run_depend>std_msgs</run_depend>
    46:  <run_depend>xmlrpcpp</run_depend>
    38-#include "common.h"
    39:#include "xmlrpcpp/XmlRpc.h"
    41-#include <ros/time.h>
    33-#include "common.h"
    34:#include "xmlrpcpp/XmlRpc.h"
    36-#include <boost/thread/mutex.hpp>
    31-#include "forwards.h"
    32:#include "xmlrpcpp/XmlRpcValue.h"
    33-#include "common.h"
    52:#include <xmlrpcpp/XmlRpcValue.h>
    54-namespace ros
    36:#include "xmlrpcpp/XmlRpcValue.h"
    38-#include <boost/thread/mutex.hpp>
    37-#include "ros/statistics.h"
    38:#include "xmlrpcpp/XmlRpc.h"
    40-#include <boost/thread.hpp>
    32-#include "common.h"
    33:#include "xmlrpcpp/XmlRpcValue.h"
    35-#include <vector>
    32-#include "common.h"
    33:#include "xmlrpcpp/XmlRpc.h"
    35-#include <boost/thread/mutex.hpp>
    46-#include "ros/this_node.h"
    47:#include "xmlrpcpp/XmlRpc.h"
    49-#include <boost/thread.hpp>
    45:#include "xmlrpcpp/XmlRpc.h"
    47-#include <ros/console.h>
    44:#include "xmlrpcpp/XmlRpc.h"
    46-#include <ros/console.h>
    37:#include "xmlrpcpp/XmlRpc.h"
    39-namespace ros
    50-#include "ros/internal_timer_manager.h"
    51:#include "xmlrpcpp/XmlRpcSocket.h"
    53-#include "roscpp/GetLoggers.h"
    8-find_package(catkin REQUIRED COMPONENTS
    9:  cpp_common message_generation rosconsole roscpp_serialization roscpp_traits rosgraph_msgs rostime std_msgs xmlrpcpp
    56-  LIBRARIES roscpp ${PTHREAD_LIB}
    57:  CATKIN_DEPENDS cpp_common message_runtime rosconsole roscpp_serialization roscpp_traits rosgraph_msgs rostime std_msgs xmlrpcpp
    58-  DEPENDS Boost
    39-* move connection specific log message to new name roscpp_internal.connections (`#980 <https://github.com/ros/ros_comm/pull/980>`_)
    40:* move headers to include/xmlrpcpp (`#962 <https://github.com/ros/ros_comm/issues/962>`_)
    41-* fix UDP block number when EAGAIN or EWOULDBLOCK (`#957 <https://github.com/ros/ros_comm/issues/957>`_)
    42-* fix return code of master execute function (`#938 <https://github.com/ros/ros_comm/pull/938>`_)

by Isaac Saito (noreply@blogger.com) on February 05, 2018 05:10 AM

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