June 15, 2019
New Packages for Kinetic 2019-06-15

@tfoote wrote:

We’re happy to announce 6 new packages and 177 update packages for Kinetic. There is one known regression which removes 3 packages in this sync. The maintainer is looking at the regression and we expect it to be restored soon.

Thank you to everyone who has helped make these packages available to the community, including the maintainers and contributors!

Package Updates for kinetic

Added Packages [6]:

Updated Packages [177]:

Removed Packages [3]:

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:

  • Alessandro Tondo
  • Alexander Bubeck
  • Benjamin Maidel
  • Dirk Thomas
  • Fabien Spindler
  • Fabrice Poirier
  • Felipe Garcia Lopez
  • Felix Messmer
  • Felix Ruess
  • Florian Weisshardt
  • Hitoshi Kamada
  • John Hsu
  • Jose Luis Rivero
  • Joshua Hampp
  • Kei Okada
  • Luiz Ricardo Douat
  • Masaya Kataoka
  • Matthias Gruhler
  • Michael Hosmar
  • Michael Lehning
  • Mike Lautman
  • Monika Florek-Jasinska
  • Musa Morena Marcusso Manhaes
  • Noda Shintaro
  • Orocos Developers
  • P. J. Reed
  • Philipp Schillinger
  • Richard Bormann
  • Robert Haschke
  • Russell Toris
  • Ryohei Ueda
  • Takuya Nakaoka
  • Vladimir Ermakov
  • Wolfgang Merkt
  • Yohei Kakiuchi
  • Yuki Furuta
  • Yuto Inagaki
  • dfaconti
  • k-okada
  • matsui_hiro
  • nakamichi_d

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Participants: 1

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by @tfoote Tully Foote on June 15, 2019 08:10 AM

June 14, 2019
Patch release and package sync for ROS 2 Dashing Diademata

@clalancette wrote:

The new release of ROS 2 Dashing Diademata is here !

This release includes updates to the RMW layer, fixes for multi-threaded executors, and with improvements to launch, rclpy, rclcpp, rviz2, sros2, and the command-line tools. As always you can read the full details on the tracking issue for this release.

Package Updates for dashing

Added Packages [43]:

Updated Packages [87]:

  • ros-dashing-action-tutorials: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-composition: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-demo-nodes-cpp: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-demo-nodes-cpp-native: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-demo-nodes-py: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-desktop: 0.7.0-1 -> 0.7.2-1
  • ros-dashing-dummy-map-server: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-dummy-robot-bringup: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-dummy-sensors: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-image-tools: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-intra-process-demo: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-launch: 0.8.3-1 -> 0.8.4-1
  • ros-dashing-launch-testing: 0.8.3-1 -> 0.8.4-1
  • ros-dashing-launch-testing-ament-cmake: 0.8.3-1 -> 0.8.4-1
  • ros-dashing-lifecycle: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-logging-demo: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-pendulum-control: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-pendulum-msgs: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-python-cmake-module: 0.7.6-1 -> 0.7.7-1
  • ros-dashing-qt-dotgraph: 1.0.5-1 -> 1.0.6-1
  • ros-dashing-qt-gui: 1.0.5-1 -> 1.0.6-1
  • ros-dashing-qt-gui-app: 1.0.5-1 -> 1.0.6-1
  • ros-dashing-qt-gui-core: 1.0.5-1 -> 1.0.6-1
  • ros-dashing-qt-gui-cpp: 1.0.5-1 -> 1.0.6-1
  • ros-dashing-qt-gui-py-common: 1.0.5-1 -> 1.0.6-1
  • ros-dashing-quality-of-service-demo-cpp: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-quality-of-service-demo-py: 0.7.6-1 -> 0.7.8-1
  • ros-dashing-rcl: 0.7.4-1 -> 0.7.5-1
  • ros-dashing-rcl-action: 0.7.4-1 -> 0.7.5-1
  • ros-dashing-rcl-lifecycle: 0.7.4-1 -> 0.7.5-1
  • ros-dashing-rcl-yaml-param-parser: 0.7.4-1 -> 0.7.5-1
  • ros-dashing-rclcpp: 0.7.5-1 -> 0.7.6-1
  • ros-dashing-rclcpp-action: 0.7.5-1 -> 0.7.6-1
  • ros-dashing-rclcpp-components: 0.7.5-1 -> 0.7.6-1
  • ros-dashing-rclcpp-lifecycle: 0.7.5-1 -> 0.7.6-1
  • ros-dashing-rclpy: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rmw: 0.7.1-1 -> 0.7.2-1
  • ros-dashing-rmw-connext-cpp: 0.7.2-1 -> 0.7.3-1
  • ros-dashing-rmw-connext-shared-cpp: 0.7.2-1 -> 0.7.3-1
  • ros-dashing-rmw-fastrtps-cpp: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rmw-fastrtps-dynamic-cpp: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rmw-fastrtps-shared-cpp: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rmw-implementation: 0.7.1-1 -> 0.7.1-2
  • ros-dashing-rmw-implementation-cmake: 0.7.1-1 -> 0.7.2-1
  • ros-dashing-rmw-opensplice-cpp: 0.7.1-1 -> 0.7.2-1
  • ros-dashing-robot-state-publisher: 2.2.2-1 -> 2.2.3-1
  • ros-dashing-ros-base: 0.7.0-1 -> 0.7.2-1
  • ros-dashing-ros-core: 0.7.0-1 -> 0.7.2-1
  • ros-dashing-ros1-bridge: 0.7.2-1 -> 0.7.2-4
  • ros-dashing-ros2bag: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-rosbag2: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-rosbag2-converter-default-plugins: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-rosbag2-storage: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-rosbag2-storage-default-plugins: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-rosbag2-test-common: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-rosbag2-tests: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-rosbag2-transport: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-rosidl-adapter: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rosidl-cmake: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rosidl-generator-c: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rosidl-generator-cpp: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rosidl-generator-py: 0.7.6-1 -> 0.7.7-1
  • ros-dashing-rosidl-parser: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rosidl-runtime-py: 0.7.6-1 -> 0.7.7-1
  • ros-dashing-rosidl-typesupport-interface: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rosidl-typesupport-introspection-c: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rosidl-typesupport-introspection-cpp: 0.7.3-1 -> 0.7.4-1
  • ros-dashing-rqt-plot: 1.0.5-1 -> 1.0.6-1
  • ros-dashing-rviz-assimp-vendor: 6.1.1-1 -> 6.1.2-1
  • ros-dashing-rviz-common: 6.1.1-1 -> 6.1.2-1
  • ros-dashing-rviz-default-plugins: 6.1.1-1 -> 6.1.2-1
  • ros-dashing-rviz-ogre-vendor: 6.1.1-1 -> 6.1.2-1
  • ros-dashing-rviz-rendering: 6.1.1-1 -> 6.1.2-1
  • ros-dashing-rviz-rendering-tests: 6.1.1-1 -> 6.1.2-1
  • ros-dashing-rviz-visual-testing-framework: 6.1.1-1 -> 6.1.2-1
  • ros-dashing-rviz2: 6.1.1-1 -> 6.1.2-1
  • ros-dashing-shared-queues-vendor: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-sqlite3-vendor: 0.1.2-1 -> 0.1.3-1
  • ros-dashing-sros2: 0.7.0-1 -> 0.7.1-1
  • ros-dashing-sros2-cmake: 0.7.0-1 -> 0.7.1-1
  • ros-dashing-tf2: 0.11.3-1 -> 0.11.3-2
  • ros-dashing-tf2-eigen: 0.11.3-1 -> 0.11.3-2
  • ros-dashing-tf2-geometry-msgs: 0.11.3-1 -> 0.11.3-2
  • ros-dashing-tf2-msgs: 0.11.3-1 -> 0.11.3-2
  • ros-dashing-tf2-ros: 0.11.3-1 -> 0.11.3-2
  • ros-dashing-tf2-sensor-msgs: 0.11.3-1 -> 0.11.3-2
  • ros-dashing-topic-monitor: 0.7.6-1 -> 0.7.8-1

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:

  • AWS B9 Team
  • Amazon ROS Contributions
  • Anup Pemmaiah
  • Arne Nordmann
  • Daniel Stonier
  • Dirk Thomas
  • Dorian Scholz
  • Jacob Perron
  • Karsten Knese
  • Michael Carroll
  • Pete Baughman
  • Scott K Logan
  • Steven! Ragnarök
  • Tully Foote
  • Vincent Rabaud
  • William Woodall

Posts: 1

Participants: 1

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by @clalancette Chris on June 14, 2019 12:51 PM

June 12, 2019
Why are ROS and Ignition/Gazebo diverging (or not converging)?

@peci1 wrote:

I’m preparing a presentation for novel ROS programmers, and during preparation of the presentation, I just started asking myself why doesn’t ROS integrate with Ignition at all?

If I get it right, both ROS and Ignition are developed by Open Robotics (and community!), and Ignition is a set of tools for roboticists. So why is it completely omitted in ROS?

I can see a lot of parallel implementations of basically the same stuff (Transport, Math, CMake, Rendering, Plugin, Msgs, Gui). Because the developers of both are more or less “under one roof”, I just don’t get it…

It would be super-nice to have e.f. ign-math used by basic ROS tools and readily available for anyone working in ROS. I can’t count how many times I’ve seen people converting quaternions to RPY angles by snippets of math they don’t understand… With Ignition, it’d be so much simpler…

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by @peci1 Martin Pecka on June 12, 2019 11:19 PM

June 11, 2019
ROS Summer School in China 2019, July 27-August 3 (Hefei)

@xinyu wrote:

ROS Summer School in China will celebrate its five year anniversary. We have successfully organized four ROS summer schools in Shanghai (2015, 2016, 2017) and in Shenzhen (2018). In the past four years, more than 1500 teachers, students and software engineers studied in our ROS summer schools. We also had excellent feedback from these onsite and offsite participants with positive comments on the lectures, speakers and organization.

Many robot companies in China have realized the importance of ROS and began developing their robot projects using ROS. However, learning ROS and its associating components involves a wide range of knowledge, which not only requires developers to have software programming skills, but also to be familiar with robotics theories, robot hardware and even understanding the background of specific industrial applications.

Learning and using ROS is somehow a slow and painful process. Our summer school provided a quick, in-depth and free learning opportunity for ROS beginners and advanced ROS developers. In 2019, we will organize the 5th ROS summer school in China. This year, our ROS summer school will come to Hefei, capital of East China’s Anhui province. From 2016, twenty new robotics projects are set to go ahead in Hefei. For example, Harbin Institute of Technology Robots Group, a leading robot firm in China, started building its 2 billion RMB ($299 million) eastern China headquarter in the city. Another project to go ahead is the Kuka Industrial Robotics Research & Development Center, a joint initiative of Kuka Industries, a subsidiary of the German robotic manufacturer Kuka AG, and two Hefei robotics firms.

In the seven days, we are going to cover the following topics: ROS basics, teleoperation, Gazebo simulator, computer vision, SLAM, navigation, industrial robot, some industrial exhibition and more. Many representatives from industries will share their experiences on robot project development using ROS. At the end of the summer school, we will organize a robot competition. Participants use their skills to fulfill some given tasks using mobile robots and sensors.

Our official website will be online soon. Please follow the website for any updates of our ROS Summer School 2019.


For the past ROS summer schools, check out the following links





Xinyu Zhang

East China Normal University

2015 ROS Summer School in China (Shanghai)

2016 ROS Summer School in China (Shanghai)

2017 ROS Summer School in China (Shanghai)

2018 ROS Summer School in China (Shenzhen)

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by @xinyu Xinyu Zhang on June 11, 2019 11:09 PM

ROSCon 2019 Workshops

@DLu wrote:

We are pleased to announce our slate of four workshops. They will run concurrently on October 30th (the day before the main programming begins) and are available as addons to your conference registration.

Is your robot secure? ROS 1 & ROS 2 Security Workshop

Organizers: Thomas Moulard (AWS Robotics), Odei Olalde (Alias Robotics), Gorka Olalde (Alias Robotics)

With the advent of IoT, more and more robots and devices are accessible from the internet. Those rarely updated, vulnerable systems, can become an easy target for hackers. In this workshop, you will learn how to detect and mitigate security issues in your ROS 1 or ROS 2 applications using tools and framework developed by the Alias Robotics and AWS RoboMaker teams.

How to use OpenAI baselines to train ROS robots

Organizer: Ricardo Tellez (The Construct)

Learn how to use reinforcement learning (RL) to train your ROS robot for tasks using the OpenAI baselines. You will learn how to build a Gazebo simulation for training, how to specify a task as an RL problem, how to connect training to the simulation, and how to use the OpenAI baselines to actually train. This is a hands on workshop. Bring your laptop. No need to install anything.

Doing real-time with ROS 2: Capabilities and challenges

Organizers: Dejan Pangercic (Apex.AI, Inc.), Ingo Lütkebohle (Bosch research), Víctor Mayoral Vilches (Acutronics Robotics), David Crawley (Ubiquity Robotics), Geoff Biggs (Tier IV)

Deterministic behaviour is crucial for many aspects of successful robot systems; from industrial welding robots following an exact path, to safety-critical robots doing drone package delivery, autonomous driving or warehouse conveyance. In this workshop participants will be introduced to the on-going work to use ROS 2 as a foundation for soft, firm and hard real-time robot systems. You will learn what the current capabilities are of ROS 2 for real-time robotics, what still remains to be done, and how you can contribute to the system.

The Future of the ROS Infrastructure Ecosystem

Organizer: Bill Smart (Oregon State University)

The community infrastructure on which ROS depends, like the wiki, Answers, and our community standards, are starting to show their age. This workshop is your chance to help improve this infrastructure, and help ensure that ROS continues to thrive. We’ll describe the results of our NSF-funded work to identify pain points and hear ideas that have worked in other open-source communities. We will work as a group to come up with good solutions to these problems, and begin a proposal to implement them.


In this first year of running workshops at ROSCon, 12 submissions were received, and after some tough decisions, four were selected (33% acceptance rate).

Contact the ROSCon 2019 Organizing Committee <roscon-2019-oc-full@openrobotics.org> with any questions or concerns.

David Lu!! (Locus Robotics)
Melonee Wise (Fetch Robotics)
Program Co-Chairs

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by @DLu David!! on June 11, 2019 04:43 PM

June 10, 2019
[meetings] ROSDevCon: Call for Participation - ROS Developers Conference 2019

@TheConstruct wrote:

(*This conference has no relation with the official ROSCon.)

ROS Developers Conference 2019 (ROSDevCon19) - Call for Participation

Date: June 15-16, 2019
Conference website: http://www.rosdevcon.com

Dear colleagues,

The ROSDevCon 2019 is a hands-on online 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.

During the conference, all participants will practice in real-time on any type of computer while the speakers are presenting. With a ready-made ROSject, participants will be able to launch the robot simulation, access the project’s code, start developing control algorithms…without any previous setup. All the participants will have

  • Access to the conference LIVE streaming

  • Full access to the ROS Development Studio (ROSDS) for programming

  • Full access to the online chat tool with all participants and ROS experts

  • Access to ROSjects (containing simulations, packages with pre-defined code)

  • An e-book of ROS2 Basics

  • Access to the video recording


  • Carlos Rosales (CTO at Beta Robots): CHESS LAB

  • Davide Faconti (Senior Robotic Architect at Blue Ocean Robotics): Finite State Machines are dead. Long life Behavior Trees

  • Dominik Nowak (CEO at Husarion): Object search in ROS

  • James Carroll (Associate Professor at Clarkson University): Use an open Manipulator to play tic-tac-toe

  • Miguel Angel Rodriguez (CTO at The Construct): ROS connection to a RaspberryPi PanAndTilt through ROSDS

  • Ludovic Delval (Software Engineer at Fraunhofer IPA): Porting a node from ROS1 to ROS2

  • Luca Marchionni (CTO at PAL Robotics): Table segmentation with PCL ROS

  • Tomoya Fujita (Software Developer at Sony Corporation): Unix Domain Socket communication in ROS


The Construct

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

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by @TheConstruct The Construct on June 10, 2019 04:06 PM

June 08, 2019
Industrial_ci: Migration needed for recent and future changes

@ipa-mdl wrote:

We have just patched industrial_ci to deal with the recent ROS security updates.

While most test jobs should work as-is, some actions need to be taken to fix broken builds and/or make your configuration future-proof (indigo and lunar EOL, colcon/ROS2 support):

Repository keys

The GPG keys have been rotated.
If your config overwrites APTKEY_STORE_HTTPS or HASHKEY_SKS, you might have to update these settings (or remove them).

Branch management

In preparation of the upcoming colcon/ROS2 support, the current master branch was renamed to legacy. If your CI config clones the master branch explicitly, you should clone legacy instead or go with the default branch.

Eventually, the latter will point to the new version, which drops support for ROS hydro and might need additional migration (preview).

Snapshot/shadow repository

EOL distros have been moved to the snapshot repository and the shadow repository got renamed.

If your config specifies ROS_PACKAGE_PATH and points to one of the official repositories, better use ROS_REPO instead:

This will switch your test jobs to the final snapshot once a distro reaches end-of-life.
To enforce this explicitly, you can set ROS_REPO=final (only if distro is EOL) or ROS_REPO=YYYY-MM-DD (snapshot timestamp).

If you face any problem that is not (yet) covered here, please don’t hesitate to open a new issue!

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by @ipa-mdl Mathias Lüdtke on June 08, 2019 02:39 PM

June 07, 2019
New GPG keys deployed for packages.ros.org

@tfoote wrote:

As a follow up to Security issue on ROS build farm we have now deployed new GPG keys to packages.ros.org. This will require anyone using packages.ros.org to update your trusted GPG keys to be able to update packages going forward.

tldr; At this point you should do the following 3 things:

  • Add the new ROS GPG key to your apt keyring if you have not already.
  • Revoke the old GPG key, it’s no longer used.
  • If using testing update the ros-shadow-fixed repository to refer to ros-testing repository.

How to transition

Below are instructions for how to update your GPG keys.

Adding the new ROS repository key

Who should do this?
Everyone who installs ROS packages from packages.ros.org

When should this be done?

What to do?
Set up the new repository key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Removing the old ROS repository key

Who should do this?

When must this be done?

What to do?
Remove the key from your apt keyring

sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

Updating the testing repository url

Who should do this? Anyone who is currently using the ros-shadow-fixed repository to test ROS packages before a sync.

Check your /etc/apt/sources.list and /etc/apt/sources.list.d/*.list for http://packages.ros.org/ros-shadow-fixed and replace it with http://packages.ros.org/ros-testing

Migrating to Snapshots.ros.org for unsupported distribitions

For older unsupported distributions we have moved the debian packages to a new host. Details for how to set that up are in this post: Security issue on ROS build farm

More detailed explanations can be found in this post:

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by @tfoote Tully Foote on June 07, 2019 07:43 PM

June 04, 2019
ROS Dashing Diademata Release Tshirt

@tfoote wrote:

ROS Dashing Tshirts Available Until June 25th

With the release of ROS Dashing Diademata our 4th ROS 2 release we have tshirts available to show your colors. Order your’s before June 25th!

Tshirt Image

There are men’s, women’s and children’s sizes with several production centers around the world.

Posts: 3

Participants: 1

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by @tfoote Tully Foote on June 04, 2019 06:18 AM

June 03, 2019
Polo shirts for Dashing

@gbiggs wrote:

(I’m posting this topic here to avoid polluting the Dashing announcement thread.)

The Dashing shirts and hoodies are, as ever, great, but sometimes a t-shirt doesn’t look professional enough. Is there any chance of getting polo shirts with a smaller logo over the pocket or something similar?

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Participants: 2

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by @gbiggs Geoffrey Biggs on June 03, 2019 11:22 PM

New package for Doosan-Robot

@doosan-robotics wrote:

A new ROS package for Doosan’s robots.
control node, move it, and description.
Please give me a lot of feedback.

Thank you

github : https://github.com/doosan-robotics/doosan-robot
wiki : http://wiki.ros.org/doosan-robotics

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by @doosan-robotics Doosan Robotics Ros Master on June 03, 2019 05:58 AM

May 31, 2019
ROS 2 Dashing Diademata Released!

@nuclearsandwich wrote:

We’re happy to announce the ROS 2 release Dashing Diademata!

We’re especially excited to let you know that Dashing Diademata is the first long(er)-term support (LTS) release for ROS 2. After several years of development, and following a big boost in productivity over the past half year from new contributors, including the TSC membership, we’ve reached a level of maturity with ROS 2 such that we’re extending the support period for Dashing to be two years, through May 2021.

So whether you’re looking for a platform on which to build a new application, or planning to migrate an existing ROS 1 system, Dashing should be your starting point. Over the coming two years, we’ll be providing patches for Dashing. While we can’t guarantee API compatibility between ROS distributions, for the updates to Dashing we aim to maintain API and ABI stability. This matches what we’ve done in the past with ROS 1 LTS distributions.

To get an idea of what’s in this release and how to update existing code from ROS 2 Crystal, be sure to read the Dashing release page.

Here are a few features and improvements we would like to highlight in this release:

  • Components are now the recommended way to write your node. They can be used standalone as well as being composed within a process and both ways are fully support from launch files.
  • The intra-process communication (C++ only) has been improved - both in terms of latency as well as minimizing copies.
  • The Python client library has been updated to match most of the C++ equivalent and some important bug fixes and improvements have landed related to memory usage and performance.
  • Parameters are now a complete alternative to dynamic_reconfigure from ROS 1 including constraints like ranges or being read-only.
  • By relying on (a subset of) IDL 4.2 for the message generation pipeline it is now possible to use .idl files (beside .msg / .srv / .action files). This change comes with support for optional UTF-8 encoding for ordinary strings as well as UTF-16 encoded multi-byte string.
  • Command line tools related to actions and components.
  • Support for Deadline, Lifespan & Liveliness QoS
  • MoveIt 2.0 alpha release
  • OpenEmbedded Thud (2.6)/webOS OSE as Tier 3 supported platform

We’re looking forward to getting your feedback and contributions, and to hearing about your new applications based on Dashing! If you have demonstrations of Dashing from your own work that you can share, feel free to post in this thread.

We also invite you to release your ROS 2 packages in Dashing! A huge thanks to all those who’ve already participated in our pre-release testing and packaging effort.

And finally the name of the next ROS 2 release scheduled for November 2019 will be:

Eloquent Elusor

Your friendly ROS 2 Team

P.S. Show your color and get a dashing T-Shirt / Hoodie.

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by @nuclearsandwich Steven! Ragnarök on May 31, 2019 11:56 PM

Key rotation for ROS 2 apt repositories

@nuclearsandwich wrote:

In light of the build.ros.org security issue we have decided to retire the key previously used to sign ROS 2 apt repositories.

We believe the ROS 2 repositories to be intact. We have no reason to believe that any malicious access or use of the GPG key occurred. To be abundantly cautious we are updating the repository signing key to curb future abuse of the potentially exposed key but the packages in the repository are unchanged. When we perform the first sync for Dashing later today it will update the signing key for all ROS 2 repositories.

Adding the new repository key

You may get the key from the GPG keyserver network, which requires apt-key and GnuPG

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

or from the ROS 2 build repository host

curl http://repo.ros2.org/repos.key | sudo apt-key add -

Removing the old key from your apt keyring

:warning: This key is still used for ROS 1 packages on packages.ros.org and the key has not been updated there yet. Removing the key will prevent updates from the ROS and ROS testing (shadow fixed) repositories until they are redeployed.

If you’re only using packages from ROS 2, you can safely remove this key now. No package updates will be pushed to repositories signed with this key. Unless you need to install ROS 1 packages not previously installed on your system, you could remove it now to be as safe as possible.

sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

After the ROS 1 repository has been redeployed there will be no future legitimate use of this key and you should remove it from your systems. When that redeployment occurs we will make another announcement and update this thread.

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by @nuclearsandwich Steven! Ragnarök on May 31, 2019 09:33 PM

May 30, 2019
Security issue on ROS build farm

@gerkey wrote:

The machine hosting build.ros.org, which is the build farm for ROS 1, was recently compromised. We took that machine offline and are in the process of deploying a new farm, with the known exploit patched.

The compromise included local privilege escalation sufficient to access the GPG private key used for signing Debian packages and to push Debian packages into the public-facing repository. We have no reason to believe that any such malicious activity occurred, but at this point we are unable to rule it out.

So, in an abundance of caution, we are using a newly generated GPG key pair for the new build.ros.org. Because the same GPG key is used to build ROS 2 packages we also swapped the key on build.ros2.org.

As a result of the farm redeployment and key change, users who are installing or updating ROS packages may encounter service disruptions.

We are working diligently to get back to normal operation as quickly as possible and will provide more updates as we have them.

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by @gerkey gerkey on May 30, 2019 05:45 PM

May 24, 2019
Announcing GazeSense_Bridge Package

@apet wrote:

Robotics researchers and developers can now rely on the GazeSense™ bridge to measure attention towards objects in ROS


GazeSense™ is an application developed by Eyeware Tech SA (http://www.eyeware.tech) that provides 3D eye tracking by relying on consumer 3D sensors. GazeSense™ allows to define virtual 3D objects with respect to the camera and world coordinate systems and measure the attention of people towards the objects.

The bridge currently implements an example in which the attention sensing objects are defined in terms of 3D primitives (eg. planes, cylinders, points). The tracking parameters, like head pose, as well as the measurement of attention towards the virtual 3D objects, are then published as the topic gs_persons . Other ROS nodes can subscribe receiving this feed information. Currently, the GazeSense™ bridge does not yet support reading RGBD camera data from a ROS node. Should this feature be of help for you, reach out to us to let us know via an email to products@eyeware.tech or by simply submitting your request in our Trello Eyeware Products Board / Ideas & Requests (https://trello.com/b/HLiqqYs4/eyeware-products). Markers are also provided for visualization within rviz (http://wiki.ros.org/rviz).

GazeSense ROS plugin Github repo: https://github.com/eyeware/eyeware-ros/tree/master/gazesense_bridge
GazeSense ROS wiki page: http://wiki.ros.org/eyeware-ros
Find us on ROS Index at: https://index.ros.org/p/gazesense_bridge/github-eyeware-eyeware-ros/#melodic

What will GazeSense do on ROS? It offers a mechanism for perception, where GazeSense provides robotics researchers and developers with the real-time signals on attention towards objects. One would be able to tell if a person interacting with the robot is looking at either of the defined objects or not, or if looking at the robot itself. The attention label (‘what is the person looking at’) is then published as a topic into the ROS framework.

Sensing attention is particularly useful for people working in the human-robot interaction (HRI) as attention sensing is key for understanding engagement, intention and for building rapport.

The first iteration of the GazeSense ROS plugin is focused towards a hard-coded version to allow a user to:

  • define objects and feed them into GazeSense;
  • capture the GazeSense signals on attention towards objects and publish it into ROS.

Why did we create a GazeSense ROS plugin available for all robotics researchers and developers using ROS?

Because creating truly robust and general-purpose robot software is hard, and no one can hope to do it alone. We are thus joining the world class, collaborative robotics software development platform and vibrant ROS community of roboticists, to help contribute producing robust solutions and build on each other’s work.

If you are looking for more features, like for example a more ‘plug-n-play’ object definition for the GazeSense ROS bridge, reach out to us to let us know via an email to products@eyeware.tech or by simply submitting your request in our Ideas & Requests Trello Board.

Your feedback is most appreciated!

Alexandra Petrus

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by @apet AP on May 24, 2019 06:03 PM

ROS 2 TSC Meeting Minutes: 2019-05-16

@gerkey wrote:

ROS 2 TSC Meeting Minutes: 16 May 2019

  • Attendees
    • Open Robotics: Tully Foote, Brian Gerkey, Louise Poubel, Dirk Thomas
    • TRI: Allison Thackston
    • LG Electronics: Brian Shin
    • eProsima: Jaime Martin Losa
    • Bosch: Karsten Knese
    • ROBOTIS: Yoonseok Pyo
    • Tier IV: Geoffrey Biggs
    • Acutronic Robotics: Víctor Mayoral Vilches
    • Intel: Matt Hansen
    • Amazon: Rutvik Hora
    • Apex.AI: Dejan Pangercic
  • Old business:
    • [2 mins] [Gerkey] ROS trademark update
      • Lawyers preparing application
    • [2 mins] [Gerkey] ROS Elevator Pitch Brochure
      • TSC members to send Brian images to include next week.
      • Brian to do final iteration with designer and be ready to share around time of Dashing release.
    • [2 mins] [Dirk] waffle.io transition
      • We tried GitHub project board for the last two sprints (for the API freeze as well as the feature freeze); pros and cons:
        • (+) The fact that you can place tickets in multiple projects with independent state has proven useful
        • (-) The inability to add tickets from different org units (creating a note with a link to the external ticket as a workaround)
        • (-) The inability to group correlated tickets
        • (-) New tickets aren’t added to the project board until explicitly selected by a maintainer
      • Conclusion: we are not very happy because of the cons and will re-evaluate our options, while limping along in the status quo of no perfect solution.
        • Dejan and Dirk to check with contacts at GitHub on what features can be expected in the future.
      • Alternative idea, raised by Geoff: follow Autoware’s lead and move from GitHub to GitLab, where the project boards have more of what we need. Such a move would be very disruptive, so not something that’s in the cards right now.
    • [5 mins] [Tully / Louise] armhf (32-bit ARM) becoming a Tier 2 supported platform
      • Armhf executors added to ci.ros2.org; manual and nightly jobs are running
        • ~10 test failures in default build
      • REP 2000 updates [PR]
        • Follow-up PR required to update tier status for armhf : Tully
      • Implication for OpenEmbedded as Tier 3?
        • Follow-up for Brian S. to submit PR to add new platform (against this branch).
    • [10 mins] [Gerkey] Dashing release communication plan
      • Review list of demos to come from TSC members
      • Formulate sequence of release-related events
        • Discourse post(s)
        • June 5th meetup
        • Individual company blog & social media posts as you see fit
  • New business:
    • (none)
  • Standing updates:
    • [15 min] [Dirk / All] Release planning - Dashing update [meta ticket]
      • Open Robotics
        • Action CLI
        • IDL
          1. String (UTF-8), WString (UTF-16)
          2. Python numeric arrays and sequences, performance and memory improvements
        • Intra process communication
          1. Publish only unique ptr vs. value
          2. Only do inter process comm when necessary
          3. Consider intra process subscriber signature
        • Launch
          1. Launching components
          2. Launch-based testing improvements
        • Parameters
          1. Declare parameters explicitly
          2. Read-only flag and value range descriptor
        • Fix memory leak in rclpy
        • Roll out of incremental CI jobs on build.ros2.org (Linux only)
        • Update to FastRTPS (soon to be) 1.8
      • Acutronic Robotics
        • Real-Time
          1. Been working in the ROS 2 Real-Time Quality Assurance Farm
          2. Update at https://github.com/ros2/ros2/issues/607#issuecomment-460319513
          3. 2-3 weeks of work left until presenting final results
        • Information models
          1. Not much progress to report for now
        • Manipulation
          1. Finalized a first demonstrator with MoveIt 2, more in the WGs discussion below
        • Teaser for ROS 2 Dashing
          1. Prepared small teaser to get input from TSC
      • Amazon
        • QoS features are merged in to mainline. Pending Demo & System tests related PRs: https://github.com/ros2/ros2/issues/680
        • Working on cross-compile support targeting armhf
        • Kicking off work to implement a framework/package that can capture and run ROS2 security attacks: https://github.com/ros2/design/pull/235
        • Asan and Tsan related analysis is complete. Planning to submit a post on discourse with findings and bugs we have fixed so far.
      • Apex.AI
      • eProsima
        • 1.8.0 Released. New Features:
          1. https://github.com/eProsima/Fast-RTPS/issues/468
          2. IDL 4.2
          3. Deadline QoS, Lifespan QoS
          4. Disable positive ACKs
          5. TLS support (secure sockets on TCP transport)
          6. Realtime improvements
            1. Preallocation
            2. Non-Blocking Calls
          7. API improvements
            1. Manual liveliness API (implementation pending for a patch release)
          8. Many bugfixes
        • Not yet tagged, solved minor issues with ROS2 CI
        • Dedicated infrastructure for CI performance tests
        • 1.8.1 planning.
        • Discovery Server Alpha available
      • ROBOTIS
      • BOSCH
        • Diagnostics:
          1. PRs still waiting for review on upstream repo
          2. Diagnostics-Aggregator is dependent on Bond-core (upstream PR has to be reviewed as well)
        • Micro-ROS:
          1. Work done to work with CMake instead of native nuttx tools
          2. System modes released
        • Realtime Executor:
          1. Paper about realtime analysis (executor model) released by Bosch PhD student
          2. Experiment code available
    • Working group updates:
      • [3 min] [Matt H] Navigation
        • Change nodes to Lifecycle nodes
          1. Adds a lifecycle_manager node
          2. Adds Rviz plugin for startup / shutdown
        • Change from nav2_tasks to rclcpp actions
        • Adding collision checking for recovery behaviors
        • Added parallel planning and control
        • Enabling “rolling window” for local costmap
      • [3 min] [Rutvik] Security
      • [3 min] [Dejan] Real-time
        • Update is posted here: https://discourse.ros.org/t/ros-2-and-real-time/8796/18
        • In brief:
          1. my initial posted attracted interest from Acutronic, Amazon, Bosch, Intel, Ubiquity, Centro Universitario de la Defensa, TierIV, Intel Portland, IIT
          2. First meeting: next Monday
          3. Consensus seems to be that it does not make sense to try to work on the whole HW/SW stack (which also includes ECUs, OSs, Interfaces, …) but instead to only focus on things like memory management, real-time pub/sub, real-time DDS and tools that allow tracing, profiling and optimizing
      • [3 min] [Geoff] Safety
        • Safety-critical WG
        • A meeting was held but not well attended (only one other attendee).
        • Some ideas were discussed but due to the lack of attendance no concrete plans were made.
        • Intel missed the meeting but are interested in a future meeting, along with others. Follow up in the thread.
      • [3 min] [Karsten] Embedded
        • No update since last time
      • [3 min] [Víctor] Manipulation
  • Other:
    • Brian to update calendar time to be more accommodating for members in Europe.

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by @gerkey gerkey on May 24, 2019 12:52 AM

May 23, 2019
[Call for Chapters] Springer Book on Robot Operating System (ROS) Volume 5 - June 01, 2019

@Anis_Koubaa wrote:


I am pleased to announce that the deadline to submit full chapters to the Springer Book on Robot Operating System (ROS) is extended to June 01, 2019, due to numerous requests.
The previous volumes of the book are in the top 25% most downloadable books in Springer. Links to previous volumes are in what follows:

Volume 1 | Metrics
Volume 2 | Metrics
Volume 3 | Metrics

Volume 4 is under production and will be published online by July 2019.

For more details about the call for chapters and submission process to Volume 5, please refer to

Anis Koubaa
Book Editor

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by @Anis_Koubaa Anis Koubaa on May 23, 2019 03:02 PM

May 22, 2019
Announcing SolidWorks to URDF Exporter 1.5

@brawner wrote:

It is my pleasure to announce that we’ve made a huge update to the SolidWorks URDF Exporter. A big thank you is due to Verb Surgical for inspiring and supporting the work and also to the team at PickNik Consulting.

From Verb Surgical:

The original ROS SolidWorks URDF Exporter has been a vital tool for many robotics teams to close the loop on mechanical design and software control, and Verb Surgical is no different.

We saw a few things we can do to make it much easier for us to close the gap between mechanical design and software controls, and decided to improve the exporter by adding several important features to facilitate exporting from large SolidWorks assemblies, and we are happy to share the tool back with the community!

These new features identified by Verb are included in over 61 new merged Pull Requests. Some of the biggest:

  • All custom inputs you add to your URDF configuration are now saved internally. No longer will you have to re-input joint limits or other hand-entered items.
  • Optionally export the URDF without creating meshes. Have some meshes that you already like? Now you can just quickly update the URDF with a handy new button!
  • Import/Export from a CSV file: For some larger robot models, it’s not practical to track all properties in the SolidWorks model. Now you can import specific properties, like existing meshes, mass/inertia properties or joint information from a CSV file.
  • Unit and integration testing: New tests will help ensure that new code is validated against existing SW model examples.
  • Tons of bug fixes!

We’ve also taken this opportunity to migrate from BitBucket to Github hosted under the ROS organization.

Please see the wiki for a download link and more information.


Again, thank you to Verb Surgical and PickNik, but also thank you to the large number of users who continue to use this tool. I never could have imagined my Willow Garage intern project would be so widely used today!

About Verb Surgical
Verb Surgical, along with physicians and administrators, is creating the future of surgery. A future with improved patient outcomes, better information and greater hospital efficiency around the world. Our mission is to “democratize surgery” globally. Verbs are known to connect someone who does with something that needs doing. In the future, our actions will connect surgeons to an end-to-end platform for surgery, including pre-operative planning, intra-operative decision making and post-operative care.

About PickNik Consulting
PickNik is supporting the worldwide open source robotics movement through community building, consulting expertise, and the development of highly-capable motion planning software. PickNik combines world-class robotics expertise and state of the art open source robotics frameworks to save you time and money.

About Stephen Brawner
Stephen Brawner is the original developer and current maintainer of the SolidWorks URDF Exporter. An experienced researcher in robotics and AI with code deployed on real-world robots, Stephen offers the know-how and insight to tackle a wide array of projects.

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by @brawner Stephen on May 22, 2019 01:20 AM

May 21, 2019
ROSCon 2019: Call for Talks/Videos

@DLu wrote:

As announced previously, ROSCon is expanding! While we are still accepting workshop proposals until this Wednesday (May 22nd), today we are opening submissions for standard talks and videos.

  • Talks - Presenter(s) talking live in front of slides/video, with a brief question period at the end, fitting into a 10, 20 or 30 minute time slot.
  • Videos - Up to 2 minutes of self-contained audio-visual content, featured alongside the talks in the program. Presented without live narration or Q/A afterward.
  • Workshops - Presenter(s) providing a hands-on in-depth look at a particular topic in a more interactive format, over the course of up to 3 hours.

You can submit proposals for talks and videos on the ROSCon site until July 15th, 2019.

We cannot offer content that is not proposed! If there is a topic on which you would like to present, please propose it. If you have an idea for an important topic that you do not want to present yourself, please post it for discussion at ROS Discourse.

Talk Submission Information

Talk proposals must include

  • Title (maximum 70 characters)
  • Presenter(s) (name and affiliation)
  • Summary - for public consumption, used in the program schedule (maximum 100 words)
  • Description - outline and goals, for review by the program committee. Describe the intended audience and what they can expect to learn. Please be sure to include enough information in your proposal for the program committee to evaluate the above review criteria.

This information must be formatted as a pdf, using the templates available on the website.

Accepted presenters will be required to provide their materials 5 weeks before ROSCon for content review to ensure the quality of the event. Content that does not pass review may be removed from the schedule at the discretion of the program committee.

Video Submission Information

Video submissions must include

  • Title (maximum 70 characters)
  • Presenter(s) (name and affiliation)
  • Summary - for public consumption, used in the program schedule (maximum 100 words)
  • Link to video online (maximum of two minutes). Do not feel the need to pad your video to two minutes: a concise thirty second video will present better than a slow two minute video.

This information must also be formatted as a pdf using the video templates available on the website.

Videos do not need to provide an extended description, but will need to provide a link to the video online. Note that the submitter is responsible for ensuring that the video is viewable by the reviewers. Note that while revisions may be made between the submission deadline and the conference, it will be reviewed based on the submitted content, which should be “finished quality.”

Additional Information

The general content guidelines and review criteria were posted previously.

David Lu!! (Locus Robotics)
Melonee Wise (Fetch Robotics)
Program Co-Chairs

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by @DLu David!! on May 21, 2019 01:50 AM

May 19, 2019
Announcing tf_remapper_cpp and static_transform_mux: More power to your TF!

@peci1 wrote:

Have you ever run a tf_remap on a complex system with tens of nodes subscribing TF? Have you looked at the CPU utilization? :hot_face: Stop wasting energy and CPU cycles by moving to tf_remapper_cpp. The API is a superset of tf_remap, so you won’t need to alter anything but one line in your launch file. As a bonus you get a node that works natively with TF2, supports remapping of /tf_static (which the original tf_remap cannot do correctly), you get the ability to “remove” frames, and the node can also work bidirectionally (listen on both old and new TF topics).

Have you ever faced weird problems with /tf_static and bag files? Yes, there is a big problem - rosbag cannot correctly play this topic correctly! It only publishes the last message, but ideally it should publish all so-far-seen static transforms. This is where static_transform_mux comes into play. Just launch this node early enough and it will take care of your static transforms. There’s one limitation, though - you still have to replay the bag from the beginning (or just play a few seconds of it and then you can seek further if you keep static_transform_mux running).

Give it a try and report if you find these packages useful!

Happy transforming :slight_smile:

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by @peci1 Martin Pecka on May 19, 2019 08:39 PM

May 18, 2019
Indigo Igloo Officially EOL

@tfoote wrote:

We’ve reached a major milestone. ROS Indigo Igloo, our first LTS ROS Distribution has reached it’s official end of life.

Indigo Igloo was first released in July of 2014. I has grown to be the largest ROS distribution ever with 2780 packages released as binaries. Indigo also was the first time that we targeted the ARM architecture by default and over 87% of the packages released successfully built on ARM.

The collective output of the community contributing to Indigo Igloo has been amazing. Just looking at the activity in the rosdistro index for indigo. There were 7581 commits over 1925 days. That’s an average of 3.9 commits per day. The majority of these changes are releases of packages. There were 475 people who contributed to the indigo rosdistro which is an average of 16.0 commits per author.

These commits came from our world wide community. There were commits coming in at all hours of every day of the week across 1478 different days:

Here’s a visualization of all the releases in the indigo subdirectory of the rosdistro.


Here is a list of all the maintainers who contributed directly to the indigo rosdistro index over the last 5 years. We want to express a big thanks to everyone who contributed to these thousands of releases that made Indigo Igloo available to the community!

Dirk Thomas, Vincent Rabaud, Kei Okada, Tully Foote, Russell Toris, Michael Ferguson, William Woodall, Jihoon Lee, Daniel Stonier, Isaac I.Y. Saito, Mikael Arguedas, Florian Weisshardt, Paul Bovbel, Mike Purvis, Dave Coleman, Vladimir Ermakov, Davide Faconti, Ioan Sucan, AlexV, Johannes Meyer, ipa-fxm, TheDash, Isaac IY Saito, Jack O’Quin, alexv, P. J. Reed, Martin Günther, Tony Baltovski, Kevin Hallenbeck, Joshua Whitley, Niklas Yann Wettengel, Alexander Tiderko, Mickael Gaillard, Justin Huang, SawYer-Robotics, Bence Magyar, Andy Zelenak, Kentaro Wada, Jennifer Buehler, Fabien Spindler, Esteve Fernandez, Chad Rockey, carlos3dx, Adolfo Rodriguez Tsouroukdissian, Natalia Lyubova, Felix Ruess, Armin Hornung, gavanderhoorn, trainman419, Miquel Massot, Ian McMahon, Daiki Maekawa, Christopher Berner, Karsten Knese, Dan Lazewatsky, Atsushi Watanabe, Gayane Kazhoyan, Felix Mauch, Christoph Rösmann, matlabbe, Jose Luis Rivero, Jose Luis Blanco, shadowmanos, Rohan Agrawal, Peter Weissig, Matt Alvarado, Ed Venator, David Kent, nlyubova, dash, Mani Monajjemi, Edward Venator, Carlos Villar, Tom Moore, Sabrina Heerklotz, Nick Hawes, Mark D Horn, Konstantin Schauwecker, Gaël Ecorchard, Anqi Xu, perezsolerj, Shengye Wang, Piyush Khandelwal, Ioan A Sucan, Shaun Edwards, Ryosuke Tajima, Peter Fankhauser, Fadri Furrer, Akif, Sachin Chitta, Richard Bormann, Philipp Schillinger, David V. Lu!!, DaikiMaekawa, AliquesTomas, Alexander Winkler, xuefengchang, Ruben Smits, Martin Pecka, Martin Guenther, Georg Bartels, AndyZe, Adam Leeper, Aaron Blasdel, fmessmer, Takashi Ogura, Raphael Memmesheimer, Mehmet Akcakoca, Jose-Luis Blanco-Claraco, robot, Toni Oliver, RomanRobotnik, Mark Horn, Jan Winkler, Jackie Kay, wnowak, flg-pb, davide, dan brooks, croesmann, corot, atp, Shane Loretz, Samuel Bachmann, Ronald Ensing, Patrick Beeson, Mitchell Wills, Mathias Lüdtke, Ken Tossell, Jon Binney, Andreas Hermann, margueda, fsuarez6, Takeshi Chiku, Takamasa Sasagawa, Phoenix, Mikael ARGUEDAS, Matei Ciocarlie, Jim Rothrock, Hamdi Sahloul, Ha Dang, kintzhao, fmina, dwlee, durovsky, baishi.bona@gmail.com, Shokoofeh Pourmehr, Sebastian Kasperski, Sarah Elliott, MoriKen254, Matthias Hadlich, Mathieu Labbe, JerryLiu, Hunter Allen, Francis Colas, Eric Perko, David Lu, Chris Lalancette, Carlos Aguero, Andy Wilson, Alexander, zmk5, uavc, procopiostein, ipa-nhg, christoph, Wolfgang Merkt, Todor Stoyanov, Sam Pfeiffer, Reed Hedges, Pramuditha Aravinda, Pep Lluís Negre, Murilo FM, Morgan Quigley, Marc Hanheide, Levi Armstrong, Jordi Pages, Jeremie Deray, Felix Marek, Dave Feil-Seifer, Austin, Alexander Bubeck, silviomaeta, lukscasanova, enriquefernandez, banerjs, babaksit, Wouter Caarls, Vincent Rousseau, Tobias, Timo Röhling, Tim Niemueller, Siddhartha Banerjee, Scott K Logan, Sammy Pfeiffer, Roman Fedorenko, Kristof Robot, Jorge Santos Simón, Jacob Perron, George Stavrinos, Felix Duvallet, Federico Spinelli, Dr. Konstantin Schauwecker, Christian Holl, Carlos Agüero, Austin Hendrix, Alex Moriarty, Alberto Invernizzi, xaxxontech, user, turtlebot, sukha-cn, plnegre, michaelpantic, michael1309, liminglong, jgmonroy, felramfab, chapulina, ayrton04, atenpas, archielee, andre-dietrich, albertoinvernizzi, ahb, Tim, Steven Peters, Sebastian Pütz, Samuel Charreyron, Sam, Rik, Péter Fankhauser, Pyo, Procópio Stein, Praveen Palanisamy, Micho Radovnikovich, Michael Lehning, Matej Sladek, Maciej Żurad, KristofRobot, Komei Sugiura, Kenneth Bogert, Joseph Duchesne, Jose Luis Blanco-Claraco, Jonathan Bohren, Ji Zhang, Hendrik Meijdam, Felix Messmer, Felix Endres, Enrique Fernandez, DevonAsh, David V. Lu, David Fischinger, Christos Zalidis, Chittaranjan Swaminathan Srinivas, Brian Bingham, Aqua, Angel Merino, AndyZelenak, Alexander Stumpf, zhukovv, thachdd88, simonpierredeschenes, rdelgadov, procopio, ob-tim-liu, nrgadmin, lth, kmhallen, kint.zhao, kazuyamashi, icarpis, iav-student, gus484, gregvi, fspindle, brice rebsamen, auboliuxin, amineHorseman, agentx3r, ZhuangYanDLUT, Zahi Kakish, Yu-Tang Peng, Yoshihiro Miyakoshi, Thomas Bamford, Thiago de Freitas Oliveira Araujo, Surya Ambrose, Silvio Maeta, Rodrigo Alexis Delgado Vega, RoboHacker, Robert Haschke, Reagan Lopez, Philippe Capdepuy, Paul Szenher, Patrick Wiesen, Patrick Goebel, Osiron007, Nishant Kejriwal, Nelapsi, Nadia Hammoudeh García, Mustafa Safri, Michele Colledanchise, Matt Curfman, Markus Bader, Markus Achtelik, Luis Rodrigues, Julian Cerruti, Jonathan Jekir, Jochen Sprickerhof, Javier Perez, Jarvis Schultz, Hunter L. Allen, HannesSommer, Guilhem Saurel, G.A. vd. 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by @tfoote Tully Foote on May 18, 2019 08:38 PM

May 15, 2019
Want to attend to the ROS Developers Live Class at ICRA19?

@TheConstruct wrote:

Are you going to attend to the ICRA conference next week?

Ricardo Tellez from The Construct will attend there to present a paper at the Taking Reproducible Research in Robotics to the Mainstream ICRA workshop about how to use ROS to reproduce scientific results.

On top of that, he will also deliver the ROS Developers Live Class on Tuesday the 21st.
Would you like to attend to the Live Class while at ICRA?

The ROS Developers Live Class is a weekly online live class teaching about ROS, delivered by Ricardo. It is free for everyone.

Next Tuesday, he will be delivering it live from ICRA. If you want to join the class live at ICRA send him an email at rtellez@theconstructsim.com

If you want to attend online, then just go to our usual channel and enjoy from home!

Next Live Class will be about How to call MoveIt! from a ROS program to make the robot grasp an object on the table.
The Live Class will start at 12:00 Montreal time. The physical location still to be determined based on attendance.

Remember that all the attendants receive a rosject containing the simulations, code and full notebook with instructions and lessons.

In case you want to know how a ROS Developers Live Class is, just check last class recorded video.

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by @TheConstruct The Construct on May 15, 2019 12:18 PM

May 14, 2019
New packages for Melodic 2019-05-14

@clalancette wrote:

We’re happy to announce the next update for ROS Melodic. We have 43 new packages as well as 51 updated packages.

Full details are below.

Package Updates for melodic

Added Packages [43]:

Updated Packages [51]:

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 Gutenkunst
  • Alexander Tiderko
  • Atsushi Watanabe
  • Austin Hendrix
  • Emre Ege
  • Felix Ruess
  • Geoff Viola
  • George Stavrinos
  • Hans-Joachim Krauch
  • Jose-Luis Blanco-Claraco
  • Kei Okada
  • Krzysztof Żurad
  • Martin Guenther
  • Martin Günther
  • Masaya Kataoka
  • Musa Morena Marcusso Manhaes
  • Philip Roan
  • Praveen Palanisamy
  • ROS Orphaned Package Maintainers
  • Roberto G. Valenti
  • Russel Howe
  • Russell Toris
  • Sebastian Pütz
  • Takashi Ogura
  • Thibault Pelletier
  • Tully Foote
  • Wolfgang Merkt
  • masaya kataoka

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by @clalancette Chris on May 14, 2019 01:51 PM

New Packages for Lunar 2019-05-14

@clalancette wrote:

We’re happy to announce the next update for ROS Lunar. We have 17 new packages as well as 39 updated packages.

As a reminder, Lunar support is ending at the end of this month. We’ll do one more sync on Lunar before we retire it.

Thanks to all of the maintainers and contributors who help make these updates possible!

Full details are below.

Package Updates for lunar

Added Packages [17]:

  • ros-lunar-desistek-saga-control: 0.3.2-0
  • ros-lunar-desistek-saga-description: 0.3.2-0
  • ros-lunar-desistek-saga-gazebo: 0.3.2-0
  • ros-lunar-eca-a9-control: 0.1.6-0
  • ros-lunar-eca-a9-description: 0.1.6-0
  • ros-lunar-eca-a9-gazebo: 0.1.6-0
  • ros-lunar-lauv-control: 0.1.6-0
  • ros-lunar-lauv-description: 0.1.6-0
  • ros-lunar-lauv-gazebo: 0.1.6-0
  • ros-lunar-multi-object-tracking-lidar: 1.0.1-1
  • ros-lunar-pr2-controller-configuration-gazebo: 2.0.13-1
  • ros-lunar-pr2-gazebo: 2.0.13-1
  • ros-lunar-pr2-gazebo-plugins: 2.0.13-1
  • ros-lunar-pr2-simulator: 2.0.13-1
  • ros-lunar-rexrov2-control: 0.1.3-0
  • ros-lunar-rexrov2-description: 0.1.3-0
  • ros-lunar-rexrov2-gazebo: 0.1.3-0

Updated Packages [39]:

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:

  • Atsushi Watanabe
  • Davide Faconti
  • Emre Ege
  • Geoff Viola
  • Kei Okada
  • Martin Guenther
  • Martin Günther
  • Musa Morena Marcusso Manhaes
  • Praveen Palanisamy
  • ROS Orphaned Package Maintainers
  • Roberto G. Valenti
  • Russel Howe
  • Thibault Pelletier

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by @clalancette Chris on May 14, 2019 01:32 PM

May 13, 2019
Field notes from Automate 2019, and why we’re bullish on ROS2

What makes a good industrial automation demonstration? When we started preparing for Automate 2019 back in January, a few key points came to mind. Our specialty in SwRI’s Manufacturing and Robotics Technology Department is advanced robotic perception and planning, so we decided that the robot should perform an authentic dynamic scan-and-plan process on a previously-unseen scene – as far away as we could get from a “canned” demo. We also wanted the demo to be an interactive experience to help drive discussion with visitors and entertain onlookers. These goals led us to the tube threading concept: a human would bend a piece of shiny metal tubing into a novel shape, and the robot would perceive it and plan a path to sweep a ring along it.

Michael Ripperger &amp; Joseph Schornak on location at Automate 2019

Michael Ripperger & Joseph Schornak on location at Automate 2019

Developing a demo system presents an opportunity to explore new ideas in a low-risk environment because the schedule and deliverables are primarily internally-motivated. Since my group had limited previous exposure to ROS2, we decided that our Automate demo should use ROS2 to the greatest possible extent. The original vision was that the system would be entirely composed of ROS2 nodes. However, due to the practical requirements of getting everything working before the ship date, we decided to use a joint ROS/ROS2 environment, with ROS motion planning and the GUI nodes communicating with the ROS2 perception nodes across the ROS-to-ROS2 bridge

ROS2 Strengths and Challenges

In contrast to virtually every other robotics project I’ve worked on, the demo system’s perception pipeline worked consistently and reliably. Intel maintains a ROS2 driver for Realsense RGB-D cameras, which allowed us to use the D435 camera without any customization or extra development. Our YAK surface reconstruction library based on the Truncated Signed Distance Field algorithm helped us avoid the interreflection issues that would usually plague perception of shiny surfaces. After a couple afternoons spent learning how to use new-to-me VTK libraries, the mesh-to-waypoint postprocessor could consistently convert tube scans into trajectory waypoints. More information about this software is available from the SwRI press release or the writeup in Manufacturing Automation.

Block Diagram of SwRI ROS-I Automate 2019 Demonstration

Block Diagram of SwRI ROS-I Automate 2019 Demonstration

Motion planning turned out to be a particularly challenging problem. Compared to a traditional robot motion task like pick-and-place, which involves planning unconstrained paths through open space, the kinematic constraints of the tube threading problem are rather bizarre. While the ring tool is axially underconstrained and can be rotated freely to the most convenient orientation, it is critical that it remain aligned with the axis of the tube to avoid collision. It’s impossible to flip the ring once it’s over the tube, so if the chosen ring orientation causes the robot to encounter a joint limit halfway down the tube, tough luck! Additionally, the robot must avoid collision between the tube and robot hardware during motion. Our initial solution used Trajopt by itself, but it would sometimes introduce unallowable joint flips since it tried to optimize every path waypoint at once without a globally-optimal perspective on how best to transition between those waypoints. We added the Descartes sampling algorithm, which addressed these issues by populating Trajopt’s seed trajectory with an approximate globally-optimal path that satisfied these kinematic and collision constraints. Planning still failed occasionally: even with a kinematically-redundant Kuka iiwa7 arm, solving paths for certain tube configurations simply wasn’t feasible[^1].

TrajOpt Path Planning Implementation &amp; Testing

TrajOpt Path Planning Implementation & Testing

[^1]: The extent of solvable tube configurations could be greatly increased by including the turntable as a controllable motion axis. Given the constraints of the iiwa7’s ROS driver, we decided that this would be, in technical software terms, a whole other can of worms.

We shipped the robot hardware about a week in advance of the exhibit setup deadline. Our reliance on ROS meant we could switch to simulation with minimal hassle, but there were some lingering issues with the controller-side software that had to wait until we were reunited with the robot the Saturday before the show[^2]. This contributed to moderate anxiety on Sunday evening as we worked to debug the system using real-world data. We had to cut some fun peripherals due to time constraints, such as the handheld ring wand that would let visitors race the robot. By Tuesday morning the robot was running consistently, provided we didn’t ask it to solve paths for too-complicated tubes. This freed up some time for me to walk the halls away from our booth and talk to other exhibitors and visitors.

[^2]: Our lunch upon arrival was Chicago-style deep dish pizza, which conveniently doubled as dinner that evening.

More Collaborative Robots

There were collaborative robots of all shapes and sizes on display from many manufacturers. I may have seen nearly the same number of collaborative robots as traditional ones! A handful were programmed to interact with visitors, offering lanyards and other branded largesse to passersby. Most of them were doing “normal robot things,” albeit intermingled with crowds of visitors without any cages of barriers, and generally at a much more sedate pace compared to the traditional robots. Some of the non-collaborative robots were demonstrating safety sensors that let them slow down and stop as visitors approached them -- I usually discovered these by triggering them accidentally.

I was surprised by the number of autonomous forklifts and pallet transporters. I’m told that there were more in 2019 than at previous shows, so I’m curious about what recent developments drove growth in this space.

I learned that ROS-Industrial has significant brand recognition. I got pulled into several conversations solely because I was wearing a ROS-I polo! Many of these discussions turned to ROS2, which produced some interesting insights. Your average roboticist-on-the-street is aware of ROS2 (no doubt having read about it on this very blog), but their understanding of its capabilities and current condition might be rather fuzzy. Many weren’t sure how to describe the key differences between ROS and ROS2, and a few weren’t even aware that ROS2 has been out in the wild for three versions! I’ll unscientifically hypothesize that a key challenge blocking wider ROS2 adoption is the lack of demonstrated success on high-visibility projects. Our demo drove some good conversation to alleviate these concerns: I could show a publicly-visible robotic system heavily reliant on ROS2 and point to the open-source native ROS2 device drivers that let it function.

Showcasing Perception and Planning Potential

In terms of demo reception, people who visited our booth were impressed that we were scanning and running trajectories on previously-unseen parts. I usually had to provide additional context to show how our perception and planning pipeline could be extended to other kinds of industrial applications. There’s a tricky balance at play here – an overly abstract demo requires some imagination on the part of the viewer to connect it to an industrial use case, but a highly application-specific demo isn’t easily generalized beyond the task at hand. Since our group specializes in application-generic robot perception and planning, I think that a demo tending towards the abstract better showcases our areas of proficiency. This is a drastically different focus from other exhibits at the show, which generally advertised a specific automation process or turnkey product. I feel like we successfully reached our target audience of people with difficult automation tasks not addressed by off-the-shelf solutions.

Development of the Industrial YAK reconstruction for the Automate Demo in ROS2

Development of the Industrial YAK reconstruction for the Automate Demo in ROS2

While it certainly would have been easier to adapt an already-polished system to serve as a show demo, developing a completely new one from scratch was way more fun. Improvements made to our perception and planning software were pushed back upstream and rolled into other ongoing projects. We’re now much more comfortable with ROS2, to the extent that we’ve decided that from here on out new robotics projects will be developed using ROS2. The show was a lot of fun, a great time was had by all, and I hope to see you at Automate 2021!

by Joseph Schornak on May 13, 2019 07:26 PM

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