September 22, 2017
Ros2 is not recognized as internal command Windows 8.1

@Shreeram_Gopalakrish wrote:

Hi all,
I am trying to run ros2 and I have followed all the steps from except VS2017 which I had installed on my Windows 8.1 beforehand.
But when I try to execute ros2 run demo_nodes_cpp talker , I get the following error:

’ros2’ is not recognized as an internal or external command,
operable program or batch file.

Any help is appreciated .

Thanks in advance.

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by @Shreeram_Gopalakrish Shreeram Gopalakrishnan on September 22, 2017 11:24 AM

Addition of Radar-Specific Message(s) to sensor_msgs

@JWhitleyAStuff wrote:

I work for a company that is very closely tied to the automotive industry. Many people in our industry are starting to use ROS as the basis for research and development efforts into autonomous vehicles. One of the primary sensing modalities is radar. Unfortunately, there isn’t really a basic message type in sensor_msgs that currently fits the output from a radar. The closest available is sensor_msgs/Range. However, while there are field_of_view, min_range, max_range and range properties associated with a radar detection, there are also other intrinsic properties like amplitude (a measure of the power of the returned signal - also applies to the other light-based sensor readings represented by Range) and angle (the angle of the detection within the lateral field of view - since radars have horizontal discrimination). Soon, there will also be 3D radars with vertical discrimination necessitating a splitting of field_of_view into lateral and vertical components.

Furthermore, many radars do not actually output the raw detection information but only output “tracks” which are filtered and grouped abstractions of single or multiple detections. Because of the tracking over several scans, they contain all the same readings as sensor_msgs/Range with the following exceptions:

  1. They do not contain “amplitude” since this is meaningless for a grouped/tracked single or set of detections.
  2. They also contain the following additional fields:
    a. lateral_rate: The lateral velocity of the object within the arc of the field of view of the radar (polar lateral velocity).
    b. width: A lateral measurement of the “track” from the most extreme lateral detections that make up the track.
    c. range_rate: A measurement of the longitudinal velocity of the track with respect to the detected angle (polar longitudinal velocity).
    d. range_accel: A measurement of the longitudinal acceleration of the track with respect to the detected angle.

We have our own versions of messages representing these data (see our package on Github [1] - specifically RadarDetection and RadarTrack) but I am now aware that these do not comply with REP 117 [2] and would much rather contribute to the standardized set of messages in common_msgs.

To the point: Does it make sense to try to extend sensor_msgs/Range to include the properties of a radar detection or should a new message be created? What about a track (when they are the only data available)?


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by @JWhitleyAStuff Joshua Whitley on September 22, 2017 05:45 AM

September 21, 2017
FREE ROS Basic Course from

@lentinjoseph wrote:

Hi all

Next FREE COURSE on ROS Basics will start from September 25th. You can apply on the following website.

Follow us on Social Media

Facebook Page Twitter Facebook Group

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by @lentinjoseph Lentin Joseph on September 21, 2017 07:06 PM

Roscon 2017 livestream

@YuehChuan wrote:

Hi, I’m so exciting for Roscon2017!
Does someone know the livestream link?

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by @YuehChuan YuehChuan on September 21, 2017 08:00 AM

September 20, 2017
Magni a low cost 100kg payload ROS robot at ROSCon 2017

@davecrawley wrote:

We are Ubiquity Robotics, a community project to create ROS based robot platforms, meet us at ROSCon 2017 in Vancouver.

Our main platform is Magni - a ROS platform that has a 100kg payload capacity. It is designed to be a extensible jumpstart point for you to develop you own robot applications using ROS. See it in person at ROSCon.

Check us out on Github:

Our Website:

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by @davecrawley David Crawley on September 20, 2017 02:43 AM

September 19, 2017
Announcing the robot_markers package

@Justin_Huang wrote:

robot_markers is a C++ library that produces visualization_msgs/MarkerArray messages given a URDF. You can set the color, pose, etc. of the markers. A key feature is that you can set robot joint values and see what the robot looks like. This is useful for visualizing hypothetical robot poses. See the wiki page for a quickstart and link to full documentation.

We have tested and used this on the PR2 and Fetch robots. I have also informally tried it on other URDFs. The package is built for ROS Indigo, but feel free to look at the source and try it on other versions of ROS.

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by @Justin_Huang Justin Huang on September 19, 2017 05:18 PM

New Packages for Lunar 2017-09-19

@marguedas wrote:

We’re happy to announce another sync of packages for Lunar with 62 new and updated packages.

The only package not available on all platforms if grpc that is not available on Debian Stretch arm64.

Thanks to the many contributors and maintainers who have made these packages available. The full details are below:

Package Updates for lunar

Added Packages [12]:

  • ros-lunar-grpc: 0.0.2-0
  • ros-lunar-joy: 1.11.0-0
  • ros-lunar-joystick-drivers: 1.11.0-0
  • ros-lunar-novatel-gps-driver: 3.3.0-0
  • ros-lunar-novatel-gps-msgs: 3.3.0-0
  • ros-lunar-ps3joy: 1.11.0-0
  • ros-lunar-rosapi: 0.8.3-0
  • ros-lunar-rosbridge-library: 0.8.3-0
  • ros-lunar-rosbridge-server: 0.8.3-0
  • ros-lunar-rosbridge-suite: 0.8.3-0
  • ros-lunar-spacenav-node: 1.11.0-0
  • ros-lunar-wiimote: 1.11.0-0

Updated Packages [50]:

  • ros-lunar-actionlib-lisp: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-can-msgs: 0.7.5-0 -> 0.7.6-0
  • ros-lunar-canopen-402: 0.7.5-0 -> 0.7.6-0
  • ros-lunar-canopen-chain-node: 0.7.5-0 -> 0.7.6-0
  • ros-lunar-canopen-master: 0.7.5-0 -> 0.7.6-0
  • ros-lunar-canopen-motor-node: 0.7.5-0 -> 0.7.6-0
  • ros-lunar-cl-tf: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-cl-tf2: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-cl-transforms: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-cl-transforms-stamped: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-cl-urdf: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-cl-utils: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-joint-state-publisher: 1.12.11-0 -> 1.12.12-0
  • ros-lunar-laser-filters: 1.8.4-1 -> 1.8.5-0
  • ros-lunar-libmavconn: 0.19.0-0 -> 0.21.0-0
  • ros-lunar-marti-can-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-lunar-marti-common-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-lunar-marti-data-structures: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-marti-nav-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-lunar-marti-perception-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-lunar-marti-sensor-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-lunar-marti-visualization-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-lunar-mavlink: 2017.8.8-0 -> 2017.9.9-0
  • ros-lunar-mavros: 0.19.0-0 -> 0.21.0-0
  • ros-lunar-mavros-extras: 0.19.0-0 -> 0.21.0-0
  • ros-lunar-mavros-msgs: 0.19.0-0 -> 0.21.0-0
  • ros-lunar-plotjuggler: 1.1.3-0 -> 1.2.1-0
  • ros-lunar-ros-canopen: 0.7.5-0 -> 0.7.6-0
  • ros-lunar-ros-type-introspection: 0.6.3-0 -> 0.9.0-0
  • ros-lunar-roslisp-common: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-roslisp-utilities: 0.2.9-0 -> 0.2.10-0
  • ros-lunar-rqt-shell: 0.4.8-0 -> 0.4.9-0
  • ros-lunar-socketcan-bridge: 0.7.5-0 -> 0.7.6-0
  • ros-lunar-socketcan-interface: 0.7.5-0 -> 0.7.6-0
  • ros-lunar-swri-console-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-geometry-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-image-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-math-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-nodelet: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-opencv-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-prefix-tools: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-roscpp: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-rospy: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-route-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-serial-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-string-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-system-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-transform-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-swri-yaml-util: 0.3.0-0 -> 1.1.0-0
  • ros-lunar-test-mavros: 0.19.0-0 -> 0.21.0-0

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:

  • Chris Lalancette
  • Davide Faconti
  • Dorian Scholz
  • Ed Venator
  • Edmond DuPont
  • Elliot Johnson
  • Gayane Kazhoyan
  • Jon Binney
  • Jonathan Bohren
  • Kris Kozak
  • Marc Alban
  • Mathias Lüdtke
  • P. J. Reed
  • Russell Toris
  • Shengye Wang
  • Vladimir Ermakov

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by @marguedas Mikael Arguedas on September 19, 2017 05:11 PM

September 18, 2017
ROSCon & IROS 2017: Towards a human-friendly robots horizon

Friendly people, friendly robots”. This is the theme of IROS 2017, held in Vancouver next week, considering that many stakeholders – PAL included – foresee a future with robots all around us, enhancing our daily life and helping us grow as humans.

ROSCon&IROS 2017 PAL RoboticsTIAGo is joining our team traveling to Canada! Our endearing robot is so excited to meet everyone at this major robotics event! Find us at the IROS’ exhibition area and test TIAGo’s collaborative capabilities. Its features are specially designed to work hand by hand with humans and assist both in industrial and domestic environments, always with a cute smile on its face!

Learn more about PAL Robotics’ philosophy and actions at RSJ-IAC Lunch, with a presentation held by the company’s CEO, Francesco Ferro (Sept. 25th – 12:30h). There you will have the opportunity to discuss with our team about the future of robotics.

ROSCon 2017: Joining efforts to boost robotics state of art

We are fully convinced that the best way to integrate robotics in human environments can only be achieved through joint efforts so we do not have to reinvent the wheel every time. ROS is a robotics middleware that provides a common framework for people working in robotics. Our commitment with ROS as a common framework for the robotics community has brought us to sponsor ROSCon 2017. We believe the conference will boost the software development by sharing everyone’s experience with the most common challenges in robotics and their approach in finding a creative and elegant solution.

Our background in designing ROS-powered robots will be exposed at ROSCon by PAL Robotics’ CTO, Luca Marchionni (Sept. 22nd – 14:30). The totality of our robots, from the small mobile bases to the human-sized bipeds, use the ROS framework, and our team constantly reviews and improves its status. One of the secrets to building our modular, flexible, configurable and testable robots is following some of the ROS guidelines.

The control software architecture, based on OROCOS and ros_control, will be presented together with the ros_controllers we’re currently using. We will focus, in particular, on our approach to Whole Body Control as an efficient redundancy resolution controller that allows to generate real-time motions on anthropomorphic robots.

For those of you who will assist either ROSCON or IROS 2017, our team will be happy to welcome you to our stand and show you what our robots are able to do.

The post ROSCon & IROS 2017: Towards a human-friendly robots horizon appeared first on PAL Robotics Blog.

by Judith Viladomat on September 18, 2017 07:45 AM

September 15, 2017
The 2017 ROS Metrics Report

@tfoote wrote:

We’ve posted the annual ROS Metrics report for 2017. You can download it from here and it’s been added to the Metrics wiki page where you can find links to all the previous versions as well.

We started collecting metrics in 2011. Reviewing the history you can see the growth and evolution of the community.

Measuring open source communities is very hard. The nature of being open and redistributable means that we definitely do not know everyone who is using it and that’s part of being open. These metrics can provide insight into trends within the community but should not be considered exhaustive or even close to complete but as a consistent snapshot. We have public instructions for setting up mirrors and these measurements do not count the any statistics for mirrors either private or public. Public mirrors are listed at

Every year we seek to provide the same metrics so that trends can be observed. However we also look to update the metrics to include new statistics or cover new aspects that we think may be interesting trends in the future. For example we started sampling the architecture usage last year as there has been growing interest in armhf and arm64, while i386 is now dropping off in usage having previously been the most popular architecture.

In assembling this report there were several statistics that stood out to me. The biggest one is that we’ve more than doubled the number of unique visitors to in the last year. This is one of the best proxies for the size of the community. Other statistics such as download counts and bandwidth usage can be highly dependent on exactly which packages get released in any given time period.

Two statistics are notable outliers. One is the number of users on there’s currently a spam attack with new unverified users being created semi-automatically. They are not getting past the verification stage and cannot post. However, the site includes them in their user count and I don’t have a good way to exclude the unverified users. They will automatically be cleared after 7 days unverified. And the other statistic that is a little bit skewed is the number of robots. This year we’ve switched from to In the process of switching there was a bit of a review process. However, clearly with the new website submissions are down too. We’ll need to look at making that more accessible as I’m quite confident that this metric is now under-reporting.

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by @tfoote Tully Foote on September 15, 2017 06:30 PM

New Packages for Kinetic 2017-09-14

@tfoote wrote:

We’re happy to announce another sync of packages for Kinetic with just over 100 new and updated packages.

Note that this is the first sync of Kinetic from the new version of the buildfarm. Thanks to the great work of @nuclearsandwich we switched over with minimal downtime and there are no known regressions. However please be vigilant for any potential issues.

And as always thanks to the many contributors and maintainers who have made these packages available. The full details are below:

Package Updates for kinetic

Added Packages [15]:

  • ros-kinetic-avt-vimba-camera: 0.0.10-0
  • ros-kinetic-binpicking-simple-utils: 0.1.4-0
  • ros-kinetic-gps-goal: 0.1.0-0
  • ros-kinetic-grpc: 0.0.2-0
  • ros-kinetic-myahrs-driver: 0.1.2-0
  • ros-kinetic-nextage-calibration: 0.8.0-0
  • ros-kinetic-nextage-description: 0.8.0-0
  • ros-kinetic-nextage-gazebo: 0.8.0-0
  • ros-kinetic-nextage-ik-plugin: 0.8.0-0
  • ros-kinetic-nextage-moveit-config: 0.8.0-0
  • ros-kinetic-nextage-ros-bridge: 0.8.0-0
  • ros-kinetic-novatel-gps-driver: 3.3.0-0
  • ros-kinetic-novatel-gps-msgs: 3.3.0-0
  • ros-kinetic-rtmros-nextage: 0.8.0-0
  • ros-kinetic-simple-arm: 0.1.0-0

Updated Packages [89]:

  • ros-kinetic-amcl: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-base-local-planner: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-bin-pose-emulator: 0.1.3-0 -> 0.1.4-0
  • ros-kinetic-bin-pose-msgs: 0.1.3-0 -> 0.1.4-0
  • ros-kinetic-binpicking-utils: 0.1.3-0 -> 0.1.4-0
  • ros-kinetic-can-msgs: 0.7.5-0 -> 0.7.6-0
  • ros-kinetic-canopen-402: 0.7.5-0 -> 0.7.6-0
  • ros-kinetic-canopen-chain-node: 0.7.5-0 -> 0.7.6-0
  • ros-kinetic-canopen-master: 0.7.5-0 -> 0.7.6-0
  • ros-kinetic-canopen-motor-node: 0.7.5-0 -> 0.7.6-0
  • ros-kinetic-carrot-planner: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-clear-costmap-recovery: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-costmap-2d: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-dwa-local-planner: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-fake-localization: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-global-planner: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-hironx-calibration: 2.0.0-0 -> 2.1.0-0
  • ros-kinetic-hironx-moveit-config: 2.0.0-0 -> 2.1.0-0
  • ros-kinetic-hironx-ros-bridge: 2.0.0-0 -> 2.1.0-0
  • ros-kinetic-hls-lfcd-lds-driver: 0.1.2-0 -> 0.1.4-0
  • ros-kinetic-jsk-roseus: 1.6.2-0 -> 1.6.3-0
  • ros-kinetic-laser-filters: 1.8.3-0 -> 1.8.5-0
  • ros-kinetic-libmavconn: 0.19.0-0 -> 0.21.0-0
  • ros-kinetic-magni-bringup: 0.1.1-0 -> 0.2.0-0
  • ros-kinetic-magni-demos: 0.1.1-0 -> 0.2.0-0
  • ros-kinetic-magni-description: 0.1.1-0 -> 0.2.0-0
  • ros-kinetic-magni-nav: 0.1.1-0 -> 0.2.0-0
  • ros-kinetic-magni-robot: 0.1.1-0 -> 0.2.0-0
  • ros-kinetic-magni-teleop: 0.1.1-0 -> 0.2.0-0
  • ros-kinetic-map-server: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-marti-can-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-kinetic-marti-common-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-kinetic-marti-data-structures: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-marti-nav-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-kinetic-marti-perception-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-kinetic-marti-sensor-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-kinetic-marti-visualization-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-kinetic-mavlink: 2017.8.8-0 -> 2017.9.9-0
  • ros-kinetic-mavros: 0.19.0-0 -> 0.21.0-0
  • ros-kinetic-mavros-extras: 0.19.0-0 -> 0.21.0-0
  • ros-kinetic-mavros-msgs: 0.19.0-0 -> 0.21.0-0
  • ros-kinetic-move-base: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-move-slow-and-clear: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-nav-core: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-navfn: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-navigation: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-openni2-camera: 0.2.7-0 -> 0.2.8-0
  • ros-kinetic-plotjuggler: 1.1.3-0 -> 1.2.1-0
  • ros-kinetic-robot-pose-ekf: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-ros-canopen: 0.7.5-0 -> 0.7.6-0
  • ros-kinetic-ros-type-introspection: 0.6.3-0 -> 0.9.0-1
  • ros-kinetic-rosapi: 0.7.17-0 -> 0.8.3-0
  • ros-kinetic-rosbridge-library: 0.7.17-0 -> 0.8.3-0
  • ros-kinetic-rosbridge-server: 0.7.17-0 -> 0.8.3-0
  • ros-kinetic-rosbridge-suite: 0.7.17-0 -> 0.8.3-0
  • ros-kinetic-roseus: 1.6.2-0 -> 1.6.3-0
  • ros-kinetic-roseus-smach: 1.6.2-0 -> 1.6.3-0
  • ros-kinetic-roseus-tutorials: 1.6.2-0 -> 1.6.3-0
  • ros-kinetic-rospilot: 1.3.7-0 -> 1.3.8-0
  • ros-kinetic-rotate-recovery: 1.14.0-0 -> 1.14.2-0
  • ros-kinetic-rqt-image-view: 0.4.8-0 -> 0.4.9-0
  • ros-kinetic-rqt-shell: 0.4.8-0 -> 0.4.9-0
  • ros-kinetic-rtmros-hironx: 2.0.0-0 -> 2.1.0-0
  • ros-kinetic-rviz: 1.12.11-0 -> 1.12.13-0
  • ros-kinetic-socketcan-bridge: 0.7.5-0 -> 0.7.6-0
  • ros-kinetic-socketcan-interface: 0.7.5-0 -> 0.7.6-0
  • ros-kinetic-swri-console-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-geometry-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-image-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-math-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-nodelet: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-opencv-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-prefix-tools: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-roscpp: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-rospy: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-route-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-serial-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-string-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-system-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-transform-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-swri-yaml-util: 1.0.0-0 -> 1.1.0-0
  • ros-kinetic-test-mavros: 0.19.0-0 -> 0.21.0-0
  • ros-kinetic-turtlebot3-fake: 0.1.5-0 -> 0.1.7-0
  • ros-kinetic-turtlebot3-gazebo: 0.1.5-0 -> 0.1.7-0
  • ros-kinetic-turtlebot3-simulations: 0.1.5-0 -> 0.1.7-0
  • ros-kinetic-velodyne-description: 1.0.4-0 -> 1.0.5-0
  • ros-kinetic-velodyne-gazebo-plugins: 1.0.4-0 -> 1.0.5-0
  • ros-kinetic-velodyne-simulator: 1.0.4-0 -> 1.0.5-0
  • ros-kinetic-voxel-grid: 1.14.0-0 -> 1.14.2-0

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:

  • Christopher Berner
  • D. Hood
  • Daniel Snider
  • David V. Lu!!
  • Davide Faconti
  • Dirk Thomas
  • Dorian Scholz
  • Ed Venator
  • Edmond DuPont
  • Elliot Johnson
  • Frantisek Durovsky
  • IK Fast Plugin Creater
  • Jon Binney
  • Kei Okada
  • Kevin Hallenbeck
  • Kris Kozak
  • Marc Alban
  • Mathias Lüdtke
  • Michael Ferguson
  • Miquel Massot
  • P. J. Reed
  • Pyo
  • Rohan Agrawal
  • Russell Toris
  • Shengye Wang
  • TORK
  • Vladimir Ermakov
  • Yoonseok Pyo
  • durovsky

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by @tfoote Tully Foote on September 15, 2017 06:15 AM

September 14, 2017
ROS 2 Beta 3 Released

@dirk-thomas wrote:

We’re happy to announce the release of ROS 2 Beta 3, codename R2B3!

Installation instructions and tutorials can be found on the ROS 2 wiki.

To get an idea of what’s in (and what’s not in) this release, be sure to read the Beta 3 overview page.

A few features and improvements we would like to highlight in this release:

  • The Python client library has received a major overhaul. It now supports an execution model and logging API similar to the C++ client library.
  • We have resolved many memory leaks and unnecessary memory usage - especially rclpy does not “leak like the Titanic anymore” (to quote a closed ticket).
  • PrismTech has contributed to the rmw_opensplice repository so that we are happy to announce that OpenSplice is supported again: version 6.7 (on Linux and Windows atm).

As the “beta” qualifier suggests, this release of ROS 2 is not complete. However, we consider it to the point now where many things are ready for feedback from a broader audience, hence the label “beta” instead of “alpha”. That being said, you should not expect to switch from ROS 1 to ROS 2 right now, nor should you expect to build a complete robot control system with ROS 2. Rather, you should expect to try out some demos, explore the code, participate in online discussions, and perhaps write your own demos.

As always, we invite you to try out the new software, give feedback, report bugs, and suggest features (and contribute code!):

Your friendly neighborhood ROS 2 Team

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by @dirk-thomas Dirk Thomas on September 14, 2017 05:42 PM

New Packages for Indigo 2017-09-14

@tfoote wrote:

We’re happy to announce new packages for Indigo. This includes 24 new packages as well as 52 updates.

Note that this is the first sync from the new version of the buildfarm. Thanks to the great work of @nuclearsandwich we switched over with minimal downtime and there are no known regressions. However please be vigilant for any potential issues.

And as always thanks to the many contributors and maintainers who have made these packages available. The full details are below:

Package Updates for indigo

Added Packages [24]:

  • ros-indigo-airbus-cobot-gui: 0.0.4-0
  • ros-indigo-airbus-coop: 0.0.4-0
  • ros-indigo-airbus-docgen: 0.0.4-0
  • ros-indigo-airbus-plugin-log-manager: 0.0.4-0
  • ros-indigo-airbus-plugin-node-manager: 0.0.4-0
  • ros-indigo-airbus-plugin-rqt: 0.0.4-0
  • ros-indigo-airbus-plugin-rviz: 0.0.4-0
  • ros-indigo-airbus-pyqt-extend: 0.0.4-0
  • ros-indigo-airbus-ssm-core: 0.0.4-0
  • ros-indigo-airbus-ssm-plugin: 0.0.4-0
  • ros-indigo-airbus-ssm-tutorial: 0.0.4-0
  • ros-indigo-ethercat-manager: 1.0.6-0
  • ros-indigo-grpc: 0.0.2-0
  • ros-indigo-minas: 1.0.6-0
  • ros-indigo-minas-control: 1.0.6-0
  • ros-indigo-novatel-gps-driver: 3.3.0-0
  • ros-indigo-novatel-gps-msgs: 3.3.0-0
  • ros-indigo-python-ftputil: 3.3.0-3
  • ros-indigo-rapid-pbd: 0.1.3-0
  • ros-indigo-rapid-pbd-msgs: 0.1.1-1
  • ros-indigo-ros-explorer: 0.1.0-0
  • ros-indigo-tra1-bringup: 1.0.6-0
  • ros-indigo-tra1-description: 1.0.6-0
  • ros-indigo-tra1-moveit-config: 1.0.6-0

Updated Packages [52]:

  • ros-indigo-catkin-pip: 0.2.2-0 -> 0.2.3-0
  • ros-indigo-fcl: 0.3.3-0 -> 0.3.4-0
  • ros-indigo-fetch-auto-dock-msgs: 0.6.1-0 -> 1.0.0-0
  • ros-indigo-fetch-driver-msgs: 0.6.1-0 -> 1.0.0-0
  • ros-indigo-hironx-calibration: 2.0.0-0 -> 2.1.0-0
  • ros-indigo-hironx-moveit-config: 2.0.0-0 -> 2.1.0-0
  • ros-indigo-hironx-ros-bridge: 2.0.0-0 -> 2.1.0-0
  • ros-indigo-joint-state-publisher: 1.11.13-0 -> 1.11.14-0
  • ros-indigo-jsk-roseus: 1.6.2-0 -> 1.6.3-0
  • ros-indigo-laser-filters: 1.8.3-1 -> 1.8.5-0
  • ros-indigo-marti-can-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-indigo-marti-common-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-indigo-marti-data-structures: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-marti-nav-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-indigo-marti-perception-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-indigo-marti-sensor-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-indigo-marti-visualization-msgs: 0.0.9-0 -> 0.2.0-0
  • ros-indigo-myahrs-driver: 0.1.1-0 -> 0.1.2-0
  • ros-indigo-openni2-camera: 0.2.7-0 -> 0.2.8-1
  • ros-indigo-parrot-arsdk: 3.12.6-0 -> 3.12.61-0
  • ros-indigo-plotjuggler: 1.1.3-0 -> 1.2.1-0
  • ros-indigo-robot-model: 1.11.13-0 -> 1.11.14-0
  • ros-indigo-ros-type-introspection: 0.6.3-0 -> 0.9.0-0
  • ros-indigo-roseus: 1.6.2-0 -> 1.6.3-0
  • ros-indigo-roseus-mongo: 1.6.2-0 -> 1.6.3-0
  • ros-indigo-roseus-smach: 1.6.2-0 -> 1.6.3-0
  • ros-indigo-roseus-tutorials: 1.6.2-0 -> 1.6.3-0
  • ros-indigo-rqt-image-view: 0.4.8-0 -> 0.4.9-0
  • ros-indigo-rqt-shell: 0.4.8-0 -> 0.4.9-0
  • ros-indigo-rtmros-hironx: 2.0.0-0 -> 2.1.0-0
  • ros-indigo-rviz: 1.11.17-0 -> 1.11.18-0
  • ros-indigo-surface-perception: 0.1.3-0 -> 0.2.1-0
  • ros-indigo-swri-console-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-geometry-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-image-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-math-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-nodelet: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-opencv-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-prefix-tools: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-roscpp: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-rospy: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-route-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-serial-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-string-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-system-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-transform-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-swri-yaml-util: 1.0.0-0 -> 1.1.0-0
  • ros-indigo-urdf: 1.11.13-0 -> 1.11.14-0
  • ros-indigo-urdf-parser-plugin: 1.11.13-0 -> 1.11.14-0
  • ros-indigo-velodyne-description: 0.0.2-0 -> 0.0.3-0
  • ros-indigo-velodyne-gazebo-plugins: 0.0.2-0 -> 0.0.3-0
  • ros-indigo-velodyne-simulator: 0.0.2-0 -> 0.0.3-0

Removed Packages [1]:

  • ros-indigo-cob-tactiletools

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:

  • AlexV
  • Chris Lalancette
  • D. Hood
  • Davide Faconti
  • Dirk Thomas
  • Dorian Scholz
  • Ed Venator
  • Edmond DuPont
  • Elliot Johnson
  • Ioan Sucan
  • Jon Binney
  • Justin Huang
  • Kei Okada
  • Kevin Hallenbeck
  • Kris Kozak
  • Ludovic Delval
  • Mani Monajjemi
  • Marc Alban
  • Michael Ferguson
  • Nadia Hammoudeh Garcia
  • P. J. Reed
  • Ryosuke Tajima
  • Shengye Wang
  • TORK
  • Tokyo Opensource Robotics Kyokai (TORK) Developer Team
  • Yoonseok Pyo
  • Yuki Furuta

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by @tfoote Tully Foote on September 14, 2017 03:56 PM

Ian Chen (OSRF) Cloudy with a Chance of Simulation

Looking foward to ROSCon 2017 we're highlighting presentations from last year. The ROSCon 2017 registration is currently open.

In this presentation Ian talks about how CloudSim was developed and used to support the DARPA Virtual Robotics Challenge.



The DARPA Virtual Robotics Challenge gave birth to the first version of CloudSim. It provided a centralized platform that facilitated teams of participants from around the world to compete in simulation simultaneously. Since then, various projects have demanded the need for a similar cloud hosted environment for robotics competitions. In this presentation, we reveal a new, redesigned CloudSim that aims to be a generic tool for running robotics software and simulations on the cloud. We present some of its key features including simulation instance sharing, reusable front-end web components, a WebGL visualization client, and security and authentication.


View the slides here

by Tully Foote on September 14, 2017 12:07 AM

September 13, 2017
ROS Kinetic install in ubuntu 16.04 virtualbox

@sagniknitr wrote:

Is ROS Kinetic supported for installation in Ubuntu !6.04 virtualbox enviroment ?
I face issue when I source the .bashrc command in the Environment Setup section(1.6) of ROS kinetic installtion wiki.

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by @sagniknitr Sagnik Basu on September 13, 2017 12:15 PM

Heap Allocator in ROS

@sagniknitr wrote:

What is the default heap allocator in ROS ?
How is it different in case of nodelets/components used in ros 2 ?

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by @sagniknitr Sagnik Basu on September 13, 2017 09:47 AM

September 12, 2017
ROS Additive Manufacturing

The ROS Additive Manufacturing (RAM) project is a set of ROS packages that enables automatic generation of trajectories for additive manufacturing. It has been designed for metallic additive manufacturing with industrial robots. This project is open-source and under the BSD license.

Starting with a YAML file representing a 2D polygon or a 3D mesh, the goal is to obtain a trajectory and construct a 3D part with a robot. The user provides input files and some parameters, then generate the trajectory. The user is then able to modify the trajectory within a GUI if needed. Finally the user can obtain a robot program (specific to a brand) via a post processor (the post processor is not included in the project).


There are many software products available to generate trajectories for 3-D printing. Most of them are designed for plastic and resin 3-D printing (FDM, SLS etc.) with Cartesian machines. The algorithms usually have an "infill" parameter that allows the user to choose how much material should be put inside of the "shells" (the exterior of the 3D volume). This is very handy to produce lightweight parts, but when set to 100%, the parts are not completely filled and some holes (porosities) remain.

With 3-D metallic printing, parts are very often expected to be fully filled with material and the tolerance for porosities is very low. This constraint does not allow us to use conventional 3-D printing software and led us to create our own solution. Depending on the process (powder projection, wire) there can be other requirements. For example processes using wire are not simple to stop and start, having a continuous trajectory becomes mandatory to ensure deposition quality.

This is why we decided to create a very flexible software solution, providing a clean and modern approach to 3-D printing.


The project is split in modules, each of them has a specific functionality, the main modules are:

  • Path planning: Automatically generates a trajectory given an input file and some parameters (layer height, etc.)
  • Display: Publishes the trajectory in RViz so that it can be visualized and features different visualization modes
  • Modify trajectory: Allows for trajectory modification by selecting poses and tweaking them (geometry, parameters)

This modular approach easily allows for adding, removing or modifying functionalities inside the software. The software can be used through a Qt GUI based on RViz and is designed to be easy to use for a non programmer.



The application is working and easy to compile, code quality is ensured by Continuous Integration including Unit Tests.

There are some missing functionalities, for example:

  • Entry/exit trajectories (will be added before the end of September)
  • Trajectory simulation (will be added soon)
  • Post processor (most likely won't be included in the project because it is too robot specific)
  • Ability to generate trajectories with process stop/start: sometimes the part cannot be constructed without stopping and starting the process again
  • Allow to generate trajectories with diagonal layers

The software is already able to generate complex trajectories:

Complex Stack.jpg trivet.jpg


In the future, we would like to be able to generate trajectories for 3D printing when the initial surface is not flat. This implies creating a specific algorithm.

We also need to write some documentation and a user guide for the software.


You can find more information on the official [ROS Additive manufacturing]( wiki webpage.
Digests of the advancement are frequently posted on [the SwRI mailing list](!searchin/swri-ros-pkg-dev/additive%7Csort:relevance/swri-ros-pkg-dev/Bd7weRLIrpU/Wk-aCsGiAQAJ); please post your questions about the project here!

You can contribute to this project by reporting issues, writing documentation or opening merge request to fix bugs, improve/add functionalities.

Authored by Victor Lamoine, Institut Maupertuis, France, on GitHub at


by Matthew Robinson on September 12, 2017 04:48 PM

Send Data In Publisher Through QT Button

@tomeryehu wrote:

Hi friends,

I have seen some online guides on how to link between QT GUI and ros with ‘publisher’.

all the guides are using ros::init

int main(int argc, char **argv)
ros::init(argc, argv,“envoyeur”);

but I need to send some data to ros, when I am clicking a button.
and in the functions of the button i cant use argc, argv.

in the mainWindow.cpp:
void MainWindow::on_savePositionButton_clicked()
//When I’m clicking here, i need to send some data with publisher.

Someone can help me please ?


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by @tomeryehu tomerY on September 12, 2017 10:12 AM

Reminder: Call for Chapter Springer Book on ROS Volume 3 (Deadline 15 September 2017)

@Anis_Koubaa wrote:



Springer Book on Robot Operating System (ROS) Volume 1 [] is in the list of top 25% of most downloadable books on Springer according to their official statistics.

New Submission Deadline of Full Chapter: 15 September 2017


After the success of the Springer Book on ROS (Volume 1) with 27 chapters, and Springer Book on ROS (Volume 2) with 19 chapters, this is a third call for chapters for a Springer book on Robot Operating System (ROS). The objective of the third volume is to provide the reader with comprehensive references on the Robot Operating System (ROS), which is currently considered as the main development framework for robotics applications.

ROS (Robot Operating System) has been developed by Willow Garage and Stanford University as a part of STAIR project as a free and open-source robotic middleware for the large-scale development of complex robotic systems. ROS acts as a meta-operating system for robots as it provides hardware abstraction, low-level device control, inter-processes message-passing and package management. It also provides tools and libraries for obtaining, building, writing, and running code across multiple computers.

The main advantage of ROS is that it allows manipulating sensor data of the robot as a labeled abstract data stream, called topic, without having to deal with hardware drivers. This book intends to fill the gap and to provide ROS users (academia and industry) with a comprehensive coverage on Robot Operating System concepts and applications. It will cover several topics ranging from basics and foundation to advanced research papers. Tutorial, survey and original research papers will be sought. The book will cover several areas related to robot development using ROS including but not limited to robot navigation, UAVs, arm manipulation, multi-robot communication protocols, Web and mobile interfaces using ROS, integration of new robotic platform to ROS, computer vision applications, development of service robots using ROS, development of new libraries and packages for ROS, using ROS in education, etc. Every book chapter should be accompanied with a working code to be put later in a common repository for the readers.


Editor:Anis Koubaa, Full Professor, PhD
Affiliation:Prince Sultan University (Saudi Arabia)/CISTER Research Center (Portugal)/Gaitech Robotics (China)
Bio:Anis Koubaa is a Professor in Computer Science in Prince Sultan University (Saudi Arabia), a Research Associate in CISTER Research Unit (Portugal), and consultant at Gaitech Robotics (China). He has been leading several research projects on robotics and Internet of Things, and in particular integartion of ROS into the IoT. He is the director of the Robotics and Internet of Things Unit (RIOTU) at Prince Sultan University. He is the chair of the ACM Chapter in Saudi Arabia amd a Senior Fellow of the Higher Education Academy (SF-HEA) from the United Kingdom. Prof. Anis is the editor of several books, and author and co-author of more than 160 publications. He is the Editor-in-Chief of the Robotics Software Engineering topic of the International Journal of Advanced Robotics Systems (IJARS). Prof. Anis contributed with the design and development of the first cloud-based system for controlling and monitoring of drones over the Internet, called Dronemap Planner. His h-index is 30.


This book is expected to be published by April of 2018 by Springer. It will appear under the Studies in Computational Intelligence series. For additional information and guidelines regarding the publisher, please visit

Regarding Indexing, the book will be indexed by Scopus and will be submitted for indexing to ISI Books, and DBLP.


Full Chapters Due: September 15, 2017 (NEW DEADLINE)
Chapter Acceptance Notification: December 15, 2017
Revised Version Due Date: January 15, 2018
Revised Chapter Acceptance Notification: February 15, 2018
Estimated Publication Date: June 2018


Any contribution that provides an added value to Robot Operating System (ROS) is of interest for the book. The topics of interest include – but not limited to- the following:
ROS 2.0 Tutorials
ROS Basics and Foundations
Robot Control and Navigation
Self-driving cars using ROS
Arm Manipulation
Robot Perception
ROS Integration to Web and Mobile apps
Real-World Application Deployment using ROS
Using ROS in Higher Education
Contributed ROS Packages
Unmanned Aerial Vehicles Control and Navigation
Software Archiectures using ROS
ROS-enabled Robot Design
This volume welcome chapters about the upcoming version ROS 2.0, including tutorials, comparisong with ROS 1.0, new features in ROS 2.0.

Also, papers related to using ROS for umanned aerial vehicles are particularly welcome.


The book will accept three categories of chapters:

Tutorial chapter: it focuses on a particular ROS concept or contributed package and provides a step-by-step tutorial that explains the fundamental of the concepts/packages and presents detailed guidelines on how to use the contributed code. It must specify the ROS versions that are compatible with the tutorial code, and must provide illustration with figures and code interpretations. The code must be available to public in a share repository (to be announced later). Accompanying Video tutorials are highly recommended.

Research chapter: it presents a research technical contribution in the robotics area where ROS was used to validate the findings. The chapter must presents a sufficient material on the technical contribution in addition to necessary theoretical background, but a major focus should be made to ROS implementation and experimentation. The implementation and experimentation must be sufficiently detailed for a reader be able to reproduce the experiments. It must specify the ROS versions that are compatible with the tutorial code, and must provide illustration with figures and code interpretations. The code must be available to public in a share repository (to be announced later). Accompanying Video tutorials are highly recommended.

Case study chapter: a case study chapter should present a real-world experimentation with ROS on particular robotics platform. It should present a detailed description of observations made during experiments, and what are the challenges encountered during development and experimentation. The chapter should also highlight the best practices that would facilitate deployment and the lessons learnt.
This volume welcome chapters about the upcoming version ROS 2.0, including tutorials, comparisong with ROS 1.0, new features in ROS 2.0. Also, hot topics papers related to using ROS for umanned aerial vehicles and self-driving cars are particularly welcome.


Researchers and practitioners are invited to submit full chapters by September 15, 2017 through EasyChair system. The Chapter should not exceed 50 pages with respect to Springer format. All submitted chapters will be reviewed on a single-blind review basis. Contributors may also be requested to serve as reviewers for this project.

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by @Anis_Koubaa Anis Koubaa on September 12, 2017 07:18 AM

September 11, 2017
Catkin dependencies

@jbreija wrote:

I’m using rosbag info from the command line but after running sudo apt-get install python-rosinstall it has broken python-rosbag and now I can’t get it to reinstall.

sudo apt-get install python-rosbag
The following packages have unmet dependencies:
python-rosbag : Depends: python-roslib but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

sudo apt-get install python-roslib
The following packages have unmet dependencies:
python-roslib : Depends: catkin but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

sudo apt-get install catkin
The following packages have unmet dependencies:
catkin : Depends: python-catkin-pkg but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

sudo apt-get install python-catkin-pkg
python-catkin-pkg is already the newest version (0.3.6-1).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.

I’ve tried everything from cleaning, update, removing all ROS packages but it’s stuck in circular dependency with catkin.

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by @jbreija on September 11, 2017 02:16 PM

September 08, 2017
Introducing the OpenManipulator

@routiful wrote:

Hi guys :slight_smile:

Anyone who has studied robotics and does not know about PUMA 560?
The D-H parameter of the PUMA 560 with a total of six joints was one of the common problems in robotics exam. (Even now…?)

But how many people have coded it and actually operated the manipulator?
Actually, I did not.

So, I made manipulator for them who want to code and operate easily.
OpenManipulator is compatible Dynamixel X series. It can be assembled as a 3d printing part which is uploaded in OnShape. So you can just buy Dynamixel that outputs the torque you want and print link that modify the length you want.

Furthermore, it is ROS-Enabled and compatible with Arduino. You can operate it using MoveIt! as well.
If you have not platform on your desk, then load it your monitor using Gazebo and Processing!!

Do you want to make your own manipulator on your desk?
Just Use Dynamixel and Printing Some Parts.

If you would like to get more about OpenManipulator, please come our presentation and ROBOTIS booth in ROSCON 2017.

Time : 17:40, September 21nd, ROSCON 2017
Presenter(s) : Darby Taehoon Lim, Yoonseok Pyo, and Leon Ryuwoon Jung (ROBOTIS)
Title : Introducing OpenManipulator; the full open robot platform

Abstract :
This announcement will talk about an OpenManipulator, one of TurtleBot3 Friends. The previous TurtleBot series was able to perform the manipulation function through ‘TurtleBot Arm’. In TurtleBot3, the function will be ‘OpenManipulator’. ROS-enabled OpenManipulator is a full open robot platform consisting of OpenSoftware, OpenHardware and OpenCR(Embedded board). It is expected that ROS users will be able to upgrade TurtleBot3 with ease. Our goal is to support most of the functionality we need as a service, academic, research and educational robot platform through TurtleBot 3 and OpenManipulator.

Github :
OnShape :

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by @routiful Taehoon Lim(Darby) on September 08, 2017 10:05 AM

September 07, 2017
Robotic Blending Milestone 4 Technology Demonstration at Wolf Robotics

The Robotic Blending project is the first open source instantiation of what will become a general Scan-N-PlanTM framework (Figure 1). The project has been making steady progress over the past two and a half years.

Figure 1. Execution of surface blending of a complex contour part on Wolf Robotics Demonstration Hardware in Fort Collins, CO.

Figure 1. Execution of surface blending of a complex contour part on Wolf Robotics Demonstration Hardware in Fort Collins, CO.

Starting in earnest at the beginning of 2017, Milestone 4 (M4) sought to further the functionality of the technology to incorporate functionality that was of interest to the participating members. These members, 3M, Caterpillar, GKN Aerospace, Wolf Robotics, and the SwRI development team set forth to realize a set of objectives:

  • Closed-loop inspection and retouch: Integrating the process planning and quality assurance steps so that parts are finished with a closed, sensor-driven loop.
  • More Robust Surface Segmentation: Improving the surface segmentation and planning algorithms to accommodate more complex surfaces found on real parts (continuous surfaces with radius of curvature above a 50 mm threshold, as seen in Figure 1 above)
  • Blending Process Refinement: Improving the quality of the blending process to produce surface finishes that meet engineering requirements.
  • Edge Processing: Processing/chamfering simple 2.5D edges that occur where two surfaces meet.
  • Technology Transfer: Meetings, demonstrations, and sponsor sites to support knowledge sharing among project participants and performers.
  • Integration and Testing: Demonstration support.

The intent of the demonstration was to review the capability as-developed relative to the processing of provided Caterpillar production parts. Performance was tracked to a provided success criteria that tied to performance metrics that were relevant to the target application.

All parts presented were able to be perceived, meshed, and discrete parts for processing selected. There were difficulties with GUI interaction relative to selection, but these were considered minor.

Paths were generated for every part presented that included blending surface paths as well as the edge paths. Every path that was generated was simulated without issue.

Execution of the blending paths was performed on 100% of presented parts, and a subset of parts for edge processing. There were observed challenges due to the scale of the tools and media relative to the edge and execution of the paths without having issues with either collision or losing contact with the part. This is simply a need for finer calibration techniques for these particular hardware configurations.

Quality assurance (QA) paths were generated and simulated in all cases. False positives were prevalent and related to scatter/reflectivity, particularly for aggressive media combined with edges/corners on the parts. This is a common issue for laser-based sensors and spectral (shiny) surfaces, particularly along edges. Root cause was identified in detailed views of the scan data showing the scatter that exceeds the acceptance criteria of 0.5 mm.

For cases where slag was present to be identified the QA algorithm identified the slag and subsequent path plans were generated, displayed, and able to be simulated and executed, see Figure 2. In cases where there was no remaining slag and the finish was not high spectral the QA passed the part.

Figure 2. Processed Part and Resultant QA that highlights non-compliant regions for re-processing

Figure 2. Processed Part and Resultant QA that highlights non-compliant regions for re-processing

Overall, the demonstration was considered a success, and follow on work is in the proposal development phase. The next steps for the team: First, consider establishing two test-sites where follow on development and testing can be performed.  Second, evaluate functionality around these elements: work flow, path planning relative to perceived and characterized anomaly or feature, human mark/indication and plan, process refinement considering PushCorp functionality and 3M media, and finally Digital Twin elements to enable consistent performance between the two sites.

Additional information and videos highlighting the current capability will be available soon!

Latest updates to the packages can be found here:

Special thanks to the Robotic Blending M4 team members:

Schoen Schuknecht – 3M

JD Haas – 3M

Leon Adcock – Caterpillar

Prem Chidambaram – Caterpillar

Wajahat Afsar - Caterpillar

Chris Allison – GKN Aerospace

Richard Cheng – GKN Aerospace

Mike McMillen – PushCorp

Jonathan Meyer – SwRI

Austin Deric - SwRI

Alex Goins - SwRI

Lance Guyman – Wolf Robotics

Jason Flamm – Wolf Robotics

Zach Bennett – Wolf Robotics

Nephan Dawson – Wolf Robotics



by Matthew Robinson on September 07, 2017 05:04 PM

ROS-By-Example Vol. 2 - Indigo Now Available in Chinese

@rojas70 wrote:

Patrick Goebel’s popular ROS volume, ROS By Example Volume 2 - INDIGO, has been officially translated into Chinese by the same team that brough Volume 1 to you.

Led by Associate Professor Juan Rojas from Guangdong University of Technology, the book is available to the incredibly large and growing community of ROS users in the Mandarin world.

The book is available on all Chinese online stores! (The first Chinese volume can also be found on Find it in here, here, and here.

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by @rojas70 Dr Juan Rojas on September 07, 2017 10:34 AM

New ROS MOOC: A Systematic Approach to Learning Robotics and ROS!

@rojas70 wrote:

You might be surprised, but this MOOC is hosted by a Chinese MOOC company of the likes of Udacity or Coursera. The course is taught in English, though HW material can be submitted in both English and Mandarin.
The courses’ main text is Prof. Wyatt Newman’s newly released text: “A Systematic Approach to Learning Robot Programming with ROS“. Supplemental texts will be used for reference. We will use Patrick Goebel’s famous ROS By example books, both Vol. 1 and Vol. 2. Students worldwide are welcome.

The class and text stand out for two reasons: you will be taught by someone who has 14 years of middleware experience, 6 years of ROS class teaching and you will be taught Robotics and ROS in a systematic way! You will not just be presented with a series of projects stringed together. You will learn principles and use beginning to advanced code examples that build on top each other systematically. From the ROS graph, to simulation, visualization, camera visualization and operations, point clouds, manipulation, and system integration.

To learn more about the instructor, please visit:
And if you are interested in registering, you can do so until Sept. 30. See the online course page and sign up.

The slides will also be available independently for purchase at:

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by @rojas70 Dr Juan Rojas on September 07, 2017 10:16 AM

September 06, 2017
Mike Purvis (Clearpath Robotics) Robust Deployment with ROS Bundles

Looking foward to ROSCon 2017 we're highlighting presentations from last year. The ROSCon 2017 registration is currently open.

Mike Purvis presents how to build bundles and use them for deploying robots with ROS software.



Late in 2015, Clearpath was facing a deployment crisis, with software in various states going to customer sites, off-site demos, in-house demos & testing, and developer workstations. There was a build-up of cultural issues and technical limitations in the existing tooling. The solution to all of these issues has been to build the entirety of our robot's software in a single large workspace (using catkintools), and then ship the whole thing as one "fat" deb package. Lessons learned will be presented, along with a brief example of building a customized desktopfull bundle for Ubuntu - this should be sufficient to kickstart the efforts of anyone else who'd like to set up a similar build. The demonstration will highlight in particular our contributions to upstream ROS tooling which have been made in the course of this development work, hopefully merged in coming months


View the slides here

by Tully Foote on September 06, 2017 01:04 AM

September 04, 2017
The first ROS-Industrial Developer's training in Singapore - A Success!

The ROS-Industrial Asia Pacific Consortium has launched it's first developer's training in Singapore. The training was sold out during the week before the training was kick-started.

To be conducted annually or on request by companies, it consist of 3 days of training presentations, lab exercises and eventually testing your code on a robot. In the case here we were using a UR5 to test the participant's code.

The success lies in the feedback and the creative energy from the participants to ensure that they continue to develop in ROS and use it for their applications.

The 1-Day advanced training in Path Planning and Perception is new this year by ROS-Industrial and with the help of Levi Armstrong, SwRI (ROS-Industrial Americas) we were able to roll this out in Singapore. The additional advanced training allowed participants to delve into the key concepts for path planning and perception.

ROS-Industrial developer's training calss

ROS-Industrial developer's training calss

ROS-I Developer's Basic Training-Singapore Aug2017

Many thanks to trainer Levi Armstrong for travelling to Singapore to perform this training. Thanks to our ROS-Industrial AP Consortium developers Joseph Polden and Conghui Liang for their help as training assistants.. The training curriculum is open-source and available here.

For more details about this class, see the event page.

If you are interested in attending the next class in October, keep an eye on this event page.

by Min Ling Chan on September 04, 2017 04:15 PM

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