October 12, 2018
New Packages for Kinetic 2018-10-12

@tfoote wrote:

We’re happy to announce 28 new packages and 89 updated packages for Kinetic. There are now over 2200 packages available for download in Kinetic.

Thank you to all the maintainers and contributors who have helped make these packages available! Full details are below.

Package Updates for kinetic

Added Packages [28]:

Updated Packages [89]:

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 Rössler
  • AutonomouStuff Software Development Team
  • AutonomouStuff Software Team
  • Baptiste Potier
  • Benjamin Binder
  • Brenden Gibbons
  • Carlos Aguero
  • Daniel Stonier
  • Dash
  • David Kent
  • Devon Ash
  • Edmond DuPont
  • Geoff Viola
  • George Todoran
  • John Zhao
  • Jorge Santos
  • Josh Whitley
  • Koji Terada
  • Kris Kozak
  • Krzysztof Żurad
  • Marc Alban
  • Markus Bader
  • Martin Guenther
  • Mathieu Labbe
  • Max Schwarz
  • Michael Hosmar
  • Micho Radovnikovich
  • Mikael Arguedas
  • Mike Hosmar
  • Okan Aşık
  • P. J. Reed
  • Pierre-Louis Kabaradjian
  • Pilz GmbH and Co. KG
  • Raphael Hauk
  • Russel Howe
  • Sebastian Pütz
  • Shengye Wang
  • Steve Macenski
  • Vladimir Ermakov

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by @tfoote Tully Foote on October 12, 2018 08:50 PM

New Packages for Indigo 2018-10-12

@tfoote wrote:

We’re happy to announce 8 new packages and 51 updated packages for Indigo. This brings the total number of packages available for download from the indigo rosdistro over 2700.

Thank you to all the maintainers and contributors who have helped make these packages available to the community! Details are below.

Package Updates for indigo

Added Packages [8]:

Updated Packages [51]:

Removed Packages [7]:

  • ros-indigo-alfred-bot
  • ros-indigo-ar-sys
  • ros-indigo-rosjava-dynamic-reconfigure
  • ros-indigo-smarthome-common-driver
  • ros-indigo-smarthome-media-kodi-driver
  • ros-indigo-smarthome-media-onkyo-driver
  • ros-indigo-smarthome-media-samsungtv-driver

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:

  • AutonomouStuff Software Development Team
  • AutonomouStuff Software Team
  • David Kent
  • Edmond DuPont
  • Isaac I.Y. Saito
  • Jorge Santos
  • Josh Whitley
  • Kris Kozak
  • Marc Alban
  • Mathieu Labbe
  • Mikael Arguedas
  • P. J. Reed
  • Russell Toris
  • Sebastian Pütz
  • Shengye Wang

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by @tfoote Tully Foote on October 12, 2018 08:46 PM

October 10, 2018
ROSCon 2018: Video recordings and slides posted

@tfoote wrote:

ROSCon 2018 Video Recordings Available

We’re happy to announce that the videos from ROSCon 2018 have been uploaded and are now linked from the program. If you were unable to attend, missed a talk, or want to listen again to get some more details now you can.

Thanks to everyone for coming and for your support! We sold out ROSCon for the fourth year in a row, with over 500 attendees. And thank you to our record-breaking 47 sponsors for the financial support that enabled the conference to grow!

In addition we have posted slides from almost all the speakers as well. So if you want to get a link or other information you can do so now as well. The slides are linked alongside the videos from the program.

If you presented a Lightning Talk and want to provide more information, or if you were unable to secure a lightning talk slot I encourage you to make your announcement on Discourse in the ROS Projects category. If you’re announcing a released ROS package send it to the General category. That way, more of the community will be aware of your projects and package contributions.

  • Your friendly neighborhood ROSCon 2018 Organizing Committee

Thank you again to our Platinum Sponsor, Erle, and to all of our Gold Sponsors: Amazon, Apple, ARM, Clearpath, Eprosima, Fetch Robotics, Google, Intel, Locus, Microsoft, ROBOTIS, SICK, Tier IV, Toyota Research Institute, Universal Robots.

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by @tfoote Tully Foote on October 10, 2018 07:02 PM

October 08, 2018
ROSCon photos and presentations?

@mkhansen wrote:

Any timeline on when we should see ROSCon photos and presentations posted?

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by @mkhansen Matt Hansen on October 08, 2018 06:18 PM

intra_process_demo --> select timeout

@bgmoon wrote:

I’m new to ROS and definitely to ROS 2. Looking to use ROS in a new robotics product under development. I really like ROS 2 but have been struggling with video stuff for a couple of days.

Sorry if I’m posting this in the wrong place. Let me know the right place if this is wrong.

Dev environment is a VM under OS/X (10.13.6 on MacBook pro.) VM is running Ubuntu Bionic. I was running the VM under parallels 14, but ran into the issue that parallels STILL only supports openGL 1.2 --> so it might be good to warn folks that parallels is no good for ROS 2 development efforts. This meant that the viz2 stuff won’t work since it requires 3.2+. I did run the video “intra_process” demos under parallel’s no problem (other than being laggy.)

Purchased, downloaded and then rebuilt the world under VMware Fusion (11.0) Was able to run rviz2 – yea, but when I went back to re-test lag of intra_process I get a series of “select time” messages on the console. Eventually, a single image is display. I see my camera LED come on right away. Anyone else see this issue? Is it strictly related to “intra process” comms or something else?

A message like “select timeout” to mean invokes some kind of network issue, but I’m not sure what it could be. I tried fiddling with the network setup (NAT/Bridged/various configs) and I tested that network is good and that multicast is enabled on all interfaces. Still no joy.

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by @bgmoon on October 08, 2018 05:28 PM

[ROS Live-Class] Understanding dead reckoning robot navigation with ROS

@YUHONG_LIN wrote:

ROS Developers LIVE-Class #33: Understanding dead reckoning robot navigation with ROS

Live date: 9th Oct, 2018 | 18:00 CEST

Robot Navigation means: How to make robots able to move around AUTONOMOUSLY. This means by themselves (no joystick attached).
Odometry based robot navigation means how to make use only of the odometry to understand where the robot is. That is dead reckoning navigation (For example, the type of navigation that Roomba robots use).This Live Class is about making a robot autonomously move around by sending velocity commands to its wheels and by using odometry to figure out where in the space the robot is. That is called dead reckoning navigation

By the end of this Live Class you will be able to:

▸ Understand what odometry is, how to compute it, and how to obtain it from a ROS based robot
▸ Understand the different types of velocities a robot uses
▸ Understand the axis (frames) of a robot, and how to show them in Rviz using tf
▸ Send commands to the wheels of a ROS based robot
▸ Move a ROS based robot around using Dead Reckoning (odometry + wheel commands)

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by @YUHONG_LIN on October 08, 2018 04:03 PM

October 06, 2018
The inaugural ROSCon JP (Japan) in 2018

The first ROSCon JP opened in Tokyo on Friday, September 14, 2018 with much anticipation. It was an amazing sell-out crowd with 200 participants from the community. ROS-Industrial Consortium Asia Pacific was honored to participate and present our efforts in the industrial space to the conference attendees.

The one-day event was not dampened by the early morning rain and the room was quickly filled up with excited participants to hear the keynote speech from Brian Gerkey (CEO Open Robotics) and various prestigious speakers from industry, such as TORK, JAXA, Toyota Research Institute, Honda Research Institute, Hitachi and various universities.

ROSCONJP Logo-s.jpg  Fig 1.  Presentations by various speakers in the fully packed seminar room

Fig 1. Presentations by various speakers in the fully packed seminar room

  Fig 2. Brian Gerkey (CEO, Open Robotics) presents on ‘Future ROS’

Fig 2. Brian Gerkey (CEO, Open Robotics) presents on ‘Future ROS’

Brian’s speech envisioned how ROS2.0 will be designed to address the future needs of industry and commercial users. This is extremely important to us as an anchor for our work in the ROS-Industrial Consortium and will soon prove its value in our development work.

  fig 3. Presentation from Open RoboticS on ROS 2.0

fig 3. Presentation from Open RoboticS on ROS 2.0

Our presentation looks through the lens of Asia Pacific as we started our journey for ROS-Industrial and what challenges were faced in developing the communities in the region and the need to gain their confidence and trust on using open source software.

 Fig 4.  Nicholas Yeo representing ROS-Industrial Consortium - Asia Pacific provided the insights on ‘ The Journey of building ROS-Industrial initiatives in Asia Pacific’

Fig 4. Nicholas Yeo representing ROS-Industrial Consortium - Asia Pacific provided the insights on ‘ The Journey of building ROS-Industrial initiatives in Asia Pacific’

The most highly anticipated talk was nevertheless from Sony Corporation and their ‘kawaii’ robot dog – Aibo. The generation 2 Aibo is running on ROS with Amazon Web Services. Sony has made a significant stride to shift from internal proprietary solution to embrace open source. The crowd was amazed by the demonstration by Sony Corporation.

 Fig 5.  Sony Corporation presented on the ‘Use of ROS in Aibo and Sony's efforts

Fig 5. Sony Corporation presented on the ‘Use of ROS in Aibo and Sony's efforts

 FIg 6.  The adorable Aibo on the demonstration booth by Sony Corporation

FIg 6. The adorable Aibo on the demonstration booth by Sony Corporation

The event has demonstrated the passion and interests from the Japanese communities. It is very exciting to feel from the community that ROS will continue to evolve and adopted in the coming years. I like to thank the executive committee team (Jeff Biggs, Egashira Hirokazu, Yukiko Nakagawa, Yutaka Kondo) for organizing this wonderful event. I will be looking forward to the development of ROS in this Community. The ROS-Industrial Consortium - Asia Pacific will continue to explore how we can strengthen and develop the ecosystem with our Japan partners.

  FiG 7. Group photo with the ROSCON Japan committee and participants

FiG 7. Group photo with the ROSCON Japan committee and participants

For more information about the event and presentations please visit: http://roscon.jp/

by ROSIndustrial AP on October 06, 2018 02:27 PM

October 05, 2018
TULIPP Ajutonomous Robotics Survey ts.hipperos.com

@BenRodriguez wrote:

TULIPP Autonomous Robotics Survey

The TULIPP consortium (THALES, Efficient, FhG, TUD, NTNU, Synective, SUNDANCE & HIPPEROS) is conducting a survey on the technological challenges, requirements and practices for making autonomous robots and edge computing systems using embedded computer vision, artificial intelligence or sensor fusion. The survey is targeted at people who design and develop such devices.

The survey can be filled at: ts.hipperos.com

This survey will only take 3 minutes.

For more information: ben.rodriguez@hipperos.com

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by @BenRodriguez Ben Rodriguez on October 05, 2018 11:48 PM

New packages for Melodic 2018-10-05

@clalancette wrote:

We’re happy to announce the next update for ROS Melodic. We have 20 new packages as well as 18 updated packages.

As always, thanks to all of the maintainers and contributors who help make these updates possible!

Full details are below.

Package Updates for melodic

Added Packages [20]:

Updated Packages [18]:

  • ros-melodic-grpc: 0.0.9-2 -> 0.0.10-0
  • ros-melodic-mrpt-ekf-slam-2d: 0.1.6-0 -> 0.1.8-0
  • ros-melodic-mrpt-ekf-slam-3d: 0.1.6-0 -> 0.1.8-0
  • ros-melodic-mrpt-icp-slam-2d: 0.1.6-0 -> 0.1.8-0
  • ros-melodic-mrpt-rbpf-slam: 0.1.6-0 -> 0.1.8-0
  • ros-melodic-mrpt-slam: 0.1.6-0 -> 0.1.8-0
  • ros-melodic-pilz-extensions: 0.2.0-0 -> 0.2.2-0
  • ros-melodic-pilz-msgs: 0.2.0-0 -> 0.2.2-0
  • ros-melodic-rospilot: 1.5.1-0 -> 1.5.2-0
  • ros-melodic-tuw-airskin-msgs: 0.0.10-1 -> 0.0.11-0
  • ros-melodic-tuw-gazebo-msgs: 0.0.10-1 -> 0.0.11-0
  • ros-melodic-tuw-geometry: 0.0.2-0 -> 0.0.3-0
  • ros-melodic-tuw-geometry-msgs: 0.0.10-1 -> 0.0.11-0
  • ros-melodic-tuw-msgs: 0.0.10-1 -> 0.0.11-0
  • ros-melodic-tuw-multi-robot-msgs: 0.0.10-1 -> 0.0.11-0
  • ros-melodic-tuw-nav-msgs: 0.0.10-1 -> 0.0.11-0
  • ros-melodic-tuw-object-msgs: 0.0.10-1 -> 0.0.11-0
  • ros-melodic-tuw-vehicle-msgs: 0.0.10-1 -> 0.0.11-0

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:

  • Benjamin Binder
  • Christopher Berner
  • David Kent
  • George Todoran
  • Jose Luis
  • Jose Luis Blanco Claraco
  • Markus Bader
  • Nikos Koukis
  • Nowittyusername
  • Pilz GmbH and Co. KG
  • ROS Orphaned Package Maintainers
  • Raphael Hauk
  • Shengye Wang
  • Vladislav Tananaev

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by @clalancette Chris on October 05, 2018 12:06 PM

October 03, 2018
ROS on Arch Linux

@oytis wrote:


does anyone has any success running any ros2 release under Arch Linux as of now? All AUR packages seem to be broken in one way or another and the doc for “building from source” doesn’t apparently build anything from source, but also relies on what is in the package manager.

Could you suggest some other options apart from installing Ubuntu? Can docker help here?


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by @oytis on October 03, 2018 11:50 PM

Moveit Jointspace Constraints and Python

@danjo wrote:

we’ve been doing a bunch of path planning with a ur10 using the standard ompl solver in moveit.
we can successfully add blocks and planes to the environment to shape the path but really we’d like to be able to add joint space constraints.

i’ve found this c++ doc. is there such a feature in the python tools? if so, anybody have some example code or reference materials?

Or possibly another method for achieving something like the “water glass stays vertical” within a given point to movement???

gazebo moveit rviz ur10 ubuntu 16.04 python


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by @danjo Danjo on October 03, 2018 11:50 PM

October 02, 2018
ROS on Windows 10: First Impression

@lentinjoseph wrote:

Just tried ROS Melodic on Windows 10 using the following tutorials


It is working as expected.

Here is the porting status of packages

Please let me know if you need any help to setup ROS on Windows.

Lentin Joseph

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by @lentinjoseph Lentin Joseph on October 02, 2018 06:27 PM

New Packages for Bouncy 2018-10-02

@marguedas wrote:

We’re happy to announce another 34 new packages for Bouncy. Full details are below.

Thank you to everyone who has contributed as a maintainer or individual contributor to these releases!

I’d like to introduce @nuclearsandwich that will be handling the ROS Bouncy syncs in the future

Package Updates for bouncy

Added Packages [34]:

Updated Packages [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:

  • Daniel Stonier

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by @marguedas Mikael Arguedas on October 02, 2018 06:14 PM

September 29, 2018
New Packages Lunar 2018-09-29

@marguedas wrote:

We’re happy to announce another batch of updates for Lunar. There are 44 new packages and 26 updated packages. Full details are below.

Thank you to everyone who has contributed as a maintainer or individual contributor to these releases!

I’d like to introduce @clalancette that will be handling the ROS Lunar syncs in the future.

Package Updates for lunar

Added Packages [44]:

Updated Packages [20]:

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:

  • Davide Faconti
  • Garren Hendricks
  • Geoff Viola
  • Isaac I.Y. Saito
  • Josh Whitley
  • Martin Guenther
  • Max Schwarz
  • ROS Orphaned Package Maintainers
  • Russel Howe
  • Vladimir Ermakov

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by @marguedas Mikael Arguedas on September 29, 2018 06:59 AM

ROSCon 2018 Live Stream Running

@tfoote wrote:

ROSCon is about to get started. For those of you unable to attend in person, the live stream has been setup at http://live.tonyrobotics.com/ thanks to the support of Tony Robotics.

The schedule of talks is available at https://roscon.ros.org/2018/#program

Thank you again to our Platinum Sponsor, Erle, and to all of our Gold Sponsors: Amazon, Apple, ARM, Clearpath, Eprosima, Fetch Robotics, Google, Intel, Locus, Microsoft, ROBOTIS, SICK, Tier IV, Toyota Research Institute, Universal Robots.

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by @tfoote Tully Foote on September 29, 2018 06:24 AM

September 28, 2018
The 2018 ROS Metrics Report

@tfoote wrote:

We’ve posted the annual ROS Metrics report for 2018. 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 http://wiki.ros.org/Mirrors

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. This year we haven’t updated any fields.

In this report the biggest thing that stood out to me was the growth of ROS Discourse. The delta on the number of users might be a little off due to estimations to correct the spam attack last year. But reviewing all the numbers there’s been a lot more activity overall on Discourse.

One outlier that I believe is not super representative is that the number of wiki pages dropped. Part of this is because when I was collecting the number I realized that we hadn’t run our periodic “trash” page cleanup. This is a technical term from the Moin Moin Tuning Guide and maintenance routines for pages that have metadata that’s created but no content. One of the things that Moin Moin does is that it creates pages if you browse to them by accident. So every 404 creates a “trash” page. When collecting the stats I noticed that we had way too many pages and ran the cleanup script which removed 14750 pages, otherwise it would look like we almost doubled the number of pages. This has not been run immediately preceding the stats collection in the past so it adds noise to the measurements based on how long from the last cleanup operation. In the future I’ll plan to run the cleanup before collecting stats.

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by @tfoote Tully Foote on September 28, 2018 10:06 PM

Introducing ROS1 on Windows

@ooeygui wrote:

Microsoft, Open Robotics and the ROS Industrial consortium are working together to bring ROS1 (Melodic Morenia) to Windows.

We’re looking forward to bringing the intelligent edge to robotics by exposing Windows Machine Learning, Azure IoT Edge, and other Microsoft technologies to home, education, commercial, and industrial robots.

Find out how to get started using the experimental builds at http://aka.ms/ros.

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by @ooeygui Lou Amadio on September 28, 2018 07:21 PM

IMTS 2018 – Leveraging Open Standards and Technologies to Re-Imagine Interoperability within Factories

The International Manufacturing Technology Show (IMTS) held in Chicago brings together technology solution providers, innovators, thought leaders and interested parties seeking to leverage innovations, and improved capabilities to impact their operations and bottom line. The IMTS 2018 Emerging Technology Center (ETC), hosted by the Association for Manufacturing Technology (AMT), a team consisting of Southwest Research Institute, AMT, and Vimana presented a practical demonstration showing a NIST grant-funded initiative leveraging open technologies to facilitate interoperability between manufacturing equipment team members. The demonstration was supported by Hurco Companies, Hexagon Manufacturing Intelligence, and Universal Robots. The intent was to show how a new version of the previously developed ROS-to-MTConnect bridge can be extended along with an extended MTConnect architecture, to enable a many-to-many interoperability that seeks to enable more intelligent interoperability.

 Figure 1. Demo at the ETC at IMTS

Figure 1. Demo at the ETC at IMTS

MTConnect is an open, royalty-free standard intended to foster greater interoperability between controls, devices and software applications, by publishing structured data over networks, using the TPC/IP. The initial project, mentioned above, demonstrated the ability to implement ROS-Industrial to enable the execution of robot paths and use the MTConnect protocol for communications between the robot and a CNC machine tool. Similar to the previous effort, this new solution is primarily software based and leveraged the open standard application level protocol, MTConnect, and the open source Robot Operating System (ROS) Industrial to enable facility-level interoperability between robot teams and machine-cell devices.

The expansion of the previous ROS/MTConnect solution, further enhances the viability of using industry supported open source software for smart manufacturing applications. Open source software permits a continuation of free development, over a very large development workspace that ultimately solves complex problems where the solution is free to the end user. The output from this project is intended to enable industry-wide adoption of open source technologies, by providing a use-case and testbed showcasing lower cost solutions for comprehensive factory floor integration for the small- and medium-sized manufacturer. In parallel, it is anticipated that this work will foster and/or inspire other solution providers to incorporate this approach to leverage and incentivize both the leverage of open standards/open source as well as further refine their capabilities to align with the vision further moving the ball forward, enabling a future state where dynamic agile execution may be realized.


demonstration at IMTS was intended to show the type of operation or intelligence that may be deployed by leveraging this new approach to interoperability. As seen in Figure 2, the intent is to enable a robot, leveraging ROS/ROS-Industrial, to communicate with other types of manufacturing equipment that already take advantage of the MTConnect standard, as far as communicating what they are doing.

 Figure 2. Robot able to “understand” what the other team members need and/or are doing.

Figure 2. Robot able to “understand” what the other team members need and/or are doing.

We are also demonstrating the ability of a robot to perform more than material handling tasks. The robot can also tend the machines’ need for a replacement tool or a coolant change. The MTConnect standard is providing the language to allow the equipment to express its needs, from the movement of material to the maintenance tasks required to keep the cell at top performance. The architecture for device orchestration and collaboration provides the framework for allowing multiple manufacturing processes to coordinate their activities to complete a task. The task-based models and the coordinator models can be seen in Figure 2. This architecture enables the ROS-I platform to provide the ability for the robot to find optimal ways to dynamically move material and other assets where they need to be.

This framework is inherently extensible. For instance, industrial AI will be an essential addition to future capability, enabling the notion of autonomous, continuous improvement or dynamic optimization through learning. Plans can be previewed as conditions change and subject matter experts that choose to intervene to ensure consistency in value stream performance can also be additional input into this Industrial AI capability.

 Figure 3. State Model Architecture

Figure 3. State Model Architecture

Along with this software and supporting architecture will be a simulation test environment. This will enable testing of various scenarios. Within the scope of the current project is testing the scalability of the current developed state that was developed at IMTS 2018. This will include multi-robot scenarios to ensure the software and architecture support these use cases and of course support future iterations as we seek to extend the capability beyond one robot servicing to, say, one or two fixed assets.

 Figure 4. Simulation Environment

Figure 4. Simulation Environment

Both the software and the virtual test environment will be made fully open source with documentation. In parallel, the team is excited to see test beds assembled to enable further testing with hardware in the loop supported by additional research, non-profit, and even for-profit entities. The goal is to enable a future state where dynamism may be managed on-the-fly by enabling intelligent devices to effectively share information and act on it, both leveraging information from order to deliver systems, best practice rules, along with developments around industrial AI noted above. As we move forward towards smart, agile manufacturing, and we reduce the risk of inventory and static supply chains. Our ability to rapidly deploy equipment and repurpose it will be vital to expanding our industry and allowing for more customization and productivity.

 Figure 5. Multi-robot agility and self-optimization and organization

Figure 5. Multi-robot agility and self-optimization and organization

What was the reception at IMTS 2018?

Overall, there were a lot of questions regarding the scope of the work: what it means, when is it available, and how do average end-users take advantage?

The ETC was covered by team members from all organizations that contributed, and each brought a different perspective to what may be realized, what we would like to see next, and what specifically they heard from those they spoke with at the ETC.

Shaurabh Singh of AMT provided his insights:

> “The ETC cell was received very well. Many were appreciative of the non PLC distributed cell concept. A couple of them had a centralized master control in their cells and were stuck as their engineer who configured it had left. The peer-to-peer network-based interaction between different cell equipment was an attractive solution to them. For a lot of them it was about getting aware of different capabilities of MTConnect and ROS. Engineers asked a lot of technical questions including about MTConnect Interfaces Pub-Sub implementation, flexible collaboration models and edge computing/intelligence. On one hand, people were interested in the machine intelligence and task priority abstraction; on the other hand, they asked questions about low-level ROS dynamic path planning. Most of them were interested in where the project was headed and when it would get into the market. A lot of discussions were also on the ERP-machine level integration, process planning, part specifications and machine capabilities which are already ongoing parallel development in the MTConnect Standard Committee.”

 Figure 6. Crowd Visiting the ETC demonstration

Figure 6. Crowd Visiting the ETC demonstration

Josh Langsfeld of SwRI, Lead ROS Software Developer:

> “I thought the response to the project and the technology was quite positive. It was interesting to see the widely varying perspectives different people had when seeing our demo. Some were just interested in the idea of a robot doing machine tending at all while others were more interested in how the CMM could automatically get its output to change the CNC program. People who were aware of MTConnect and had used it before were excited about its potential for defining tasks between multiple devices. I think the idea of having mobile robots servicing and tending to a whole factory floor of various machines on demand was an especially compelling vision for how this technology can be put to practical use. We have a long way to go before reaching that, especially on the robot side since we'll have to really make use of and scale up some of the advanced planning and sensing capabilities of ROS-I. The potential is definitely there though, and I'm excited to see how this work continues to develop in the future.”

Matthew Powelson of SwRI, ROS Developer and Integration/Debug:

> “I think the reception on the whole was good. Several people were excited about it, and said things like "can you help me do this?" or "my customers really want this." People really seemed to like this idea of doing cool demos like they saw in the Fanuc booth, but doing it without having to buy all yellow robots because we are using open standards and open code. However, there were some outliers that I think are important. First, I remember one representative from a robot OEM say that this kind of open code would commoditize machine tools, and that was their biggest fear. Another man didn't like the idea of decentralized intelligence. He described some of the projects he had worked on over his 25-year career and just said that "one centralized controller isn't really that bad." Shaurabh Singh, of AMT, make a good point about how this manufacturing space is going through the same sort of transformation that the IT space did 10 years ago, where you see established companies like Microsoft now releasing code open source because it actually makes things> more > accessible and safe – not less. Open software and open standards have obvious advantages to the end user, but we still need to keep making the case to the OEMs.”

I think the team’s insights are interesting and my interactions with those that came by the ETC were very similar. It was exciting to interact with such a diverse audience, in the context of what their business is, what they sell or are looking to buy, and/or where they operate or are based. This diversity is part of the challenge when we talk about simpler interoperability, the simple “plug it in and it works”. I believe this is a simple, compelling, yet “lot to do” vision, and I hope you will stay engaged as this work moves forward.

We will seek to have all the software open source by the end of October 2018 in the MTConnect GitHub repository. There are plans to have a physical test bed established so that both industry interested parties as well as NIST and other research organizations can continue to further the capability. Please let us know if you have any questions, or would like to learn more. A detailed final report as well as follow-on presentations will be upcoming, and we will announce those via our typical communication vehicles. In the meantime, please keep the dialog going. We always look forward to questions and feedback!

by Matthew Robinson on September 28, 2018 04:59 PM

September 26, 2018
ROSCon 2017: Reactive web interfaces with Polymer and ROS -- Justin Huang and Maya Cakmak (University of Washington)

Looking foward to ROSCon 2018 we're highlighting presentations from last year.

Justin presents a new approach to building web interfaces for ROS applications.



This talk will introduce a set of web components, built on top of Robot Web Tools, that make it easy to build complex, ROS-integrated web applications without writing much code. Using the Polymer library with these components helps to make applications that are accessible and mobile-friendly. We will show how to use these components and show some common web programming patterns. Additionally, we will showcase some complex web applications we have developed with these tools, including a programming by demonstration interface, a web-based version of RViz, and a ROS graph explorer utility.


View the slides here

by Tully Foote on September 26, 2018 06:59 PM

September 25, 2018
ROS 2 TSC Meeting Minutes: September 6th, 2018

@tfoote wrote:

ROS 2 TSC Meeting Minutes: September 6th, 2018

  • Attendees:
    • Open Robotics: Brian, Louise, Dirk, Tully
    • Amazon: Doug
    • Apex: Dejan
    • ARM: Matt S
    • Bosch: Karsten
    • Intel: Matthew, Peter
    • LG: Seonman
    • MIcrosoft: Stuart
    • TARDEC: Calvin, Matt D
    • TRI: Allison

Charter Document


  • Proposal: Approve use of standard DCO (https://developercertificate.org/)
    • On the following repos:
      • All repos in the .repos file that is used to build a ROS 2 release
        • Exception might be forks of third-party repos (e.g. `uncrustify`)
    • Dirk to lead process:
      • Do announcement on Discourse
        • Explain rationale, say that we’ll take comments now and at ROSCon
      • Flip the switch(es) on the repos
    • Brian to check with LF on process for retroactive application of DCO to existing code.
    • Using the DCO probot (https://github.com/probot/dco) developed by Linux Foundation
    • Bosch’s DCO is based on OSDL
      • The explicit license check in important to worry about
      • From Bosch’s point of view don’t think using LF’s DCO is a blocker.
    • Vote:
      • Approved: All approved, no objections

Update: status on ROS trademark

  • Discussion revived with Open Robotics legal counsel

Crystal roadmap update:

  • New proposed feature list
    • Share the document and make it editable for others to contribute
  • Proposal:
    • Make Crystal LTS
      • 2 years of support, with patch releases
      • Recommend for use with indoor mobile robots
    • Would like companies to review the elements and sign up for line items to target for Crystal
    • How should we make comments?
      • We’ll follow up on discourse with a way to start the discussion online.

Other topics:

  • When will ROS1 be EOL’d?
    • It’s been discussed but don’t know when this will happen.
    • It would be good to have a tentative plan for migration. The longer people can use ROS1 the less motivated they will be to move to ROS2.
      • There will be pushback, but it will at least get the conversation going.
    • What is enough coverage for making ROS2 primary?
    • What is an LTS for us?
      • 5 years for ROS1
      • 2 years for ROS2 for now, will likely extend to 5 years in the future.
  • Open Robotics role
    • As we grow the contributing team the Open robotics team has been requested to be more active in working groups and design and planning instead of directly focusing on direct contributions.
      • Dejan: That’s a good idea, but the whole plan seems overly aggressive.
  • Next meeting?
    • 6 weeks? Maybe mid october
    • Meeting at ROSCon?
      • Action: Tully and Brian will look at options.

Posts: 2

Participants: 2

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by @tfoote Tully Foote on September 25, 2018 09:34 PM

ROS 2 TSC Meeting Minutes: July 24th, 2018

@tfoote wrote:

ROS 2 TSC Meeting Minutes: July 24th, 2018

  • Attendees:

    • Expected:
      • Open Robotics
        • Tully Foote, Brian Gerkey, Chris Lalancette, Louise Poubel, Dirk Thomas, William Woodall
      • Amazon
        • Doug Fulop
      • Apex.ai
        • Dejan Pangercic
      • Arm
        • Matt Spencer
      • Bosch
        • Karsten Knese
        • Christian
      • Denso
        • Jens Wawerla
      • Intel
        • Peter Adams, Matt Hansen, Kelly Hammond, Greg Burns
      • LG
        • Seonman Kim
      • Microsoft
        • Lou Amadio
      • TARDEC
        • Phil Frederick
        • Bill Thomasmeyer
      • TRI
        • Allison Thackston
  • Housekeeping: 10 mins

    • Get situated and sort out comms issues
    • Brian briefly introduces the participants
    • Brian briefly sets context for the meeting
  • Meta-policy: 20 mins

    • Present and discuss the draft TSC charter, with proposed amendments, including:
      • How should the TSC have bidirectional comms with community?
        • Possibly an open Discourse thread.
        • Look at a protected Category, public read, TSC only write.
      • How are member reps designated? Free choice, key code contributors, or something else?
        • Err on the side of caution to set the ground rules up front. It’s better to have a process to remove someone from the committee. Changing the rules is pretty painful.
        • Representative people will change providing different personalities
        • TSC could determine what is a significant contribution.
        • Keeping diversity is important, different branches of robotics. (Cars, drones, indoor…)
        • There should be a designee, but could send a proxy. (There’s only really a significant issue if there’s a vote.)
        • Person should have some oversight of the roadmap at the company
        • Representing lots of distributed government contributions is potentially a challenge.
      • Which repos/orgs constitute “the project” for the purpose of making contributions?
        • Something that’s seen as beneficial to the community. (needs clarification)
      • How many orgs currently qualify for membership? Should we cap TSC size?
        • Proposal: make working groups (WGs) for specific topics and to keep the TSC itself smaller.
          • A consensus beyond 20 is hard to get.
          • In the future we could raise the threshold of FTEs to keep the group from growing too much.
          • Are there ways to make sure to keep smaller companies voices so they don’t get squeezed out.
          • Some companies want a small platform level engagement.
          • Seniority could be taken into account.
          • Could use subcommittees who designate a representative.
          • A standard procedure for generating working groups can help provide a hierarchy to let more focused projects/topics.
      • Procedures:
        • Quorum size, proxy mechanism, ejection procedure
          • We’re all here with good intentions, but at some point there’s likely some conflict that will come up and should be planned for.
    • Approve and publish the charter.
    • Open Robotics will take this feedback and recirculate the TSC Charter.
  • Policy: 20 mins

    • Proposal: require DCO for future ROS 2 development (https://developercertificate.org/).
      • Consider use of an automated system for tracking DCOs on PRs like the Probot DCO app for GitHub (https://github.com/apps/dco).
      • Consider retroactively getting DCOs for previous contributions.
        • The pain of CLAs is quite a lot of pain.
        • It’s well automated, but there is overhead to get permission and teach new contributors.
        • Need clarity about which repositories require this? Community contributed repos?
        • Current DCO allows “compatible licenses”, risk of MIT code coming into a project. (Could clarify this under the contribution guide). Issue will come up with BSD 3-clause ROS1 imports
    • Committing policies
      • 2FA on repos
      • Signed commits
      • Implement this and make it the recommendation.
    • Proposal: Open Robotics to apply for a trademark on the “ROS 2” name and/or logo (do we have an agreed upon logo?).
      • Focus on ROS (2 is just a version) don’t want to embed the version in the mark.
        • Follow up with lawyers also ask them about other things that might be attached
      • Discuss policy for use of the name/logo and plans for enforcement.
        • ROS2 Certified/compatible (TSC certified) – would need a process. Could become a working group.
    • Add Coverity (or similar) scanning
      • IP Scanning is top priority
      • Static analysis is also important, especially security scanning.
      • This would be good for a working group.(IP and technical aspects are possibly separable)
      • There is overhead for developers.
      • TARDEC already has some security analysis already going too.
    • Discuss TSC meeting frequency
      • Starting out, monthly might not be enough.
      • Overtime we might be able to back off to quarterly.
      • For the short term release there might be value to a bi-weekly meeting.
        • Possibly a separate group for tracking progress
        • Can escalate to strategic process
    • Open the floor for proposals to introduce or amend other policies.
  • Roadmap: 40 mins

    • Dirk presents the Open Robotics roadmap for ROS 2 Crystal (December 2018):
      • https://github.com/ros2/ros2/wiki/Roadmap
      • How can we accelerate a specific project/roadmap item? Do we need to vote?
        • How do we oversee contributions?
        • Should Open Robotics be allocating resources to oversee external contributions to make sure that they are acceptable.
          • Definitely for TSC members. Clear deliverables and approach. Design work to make sure that we don’t box ourselves in.
    • Discuss and take questions on the current roadmap.
    • Open the floor for proposals to amend the roadmap, including:
      • Which platforms to support (Ubuntu version(s), QNX, macOS, Windows)
      • Should Open Robotics explicitly allocate people / time to coordinate development at other orgs?
        • This would be valuable for TSC coordination/contributions.
      • Are there realtime targets for this cycle?
        • Currently laying groundwork
        • Functional safety is important to several members
      • TurtleBot packages
        • Intel and Amazon are both interested
        • TurtleBot3 in simulation would be valuable.
        • TurtleBot2 port is partial. Beta2 demo worked.
        • Would like this available for testing navigation
        • depth_image_to_laserscan
      • navigation
        • Intel – want to have something by Crystal
        • Amazon
        • TRI
        • Worth a working group.
        • blocked by actions, for a full port
      • Dynamic memory allocation
        • Apex
      • Shared memory transport and performance
        • Apex
        • LG
      • Not complete DDS implementations (FastRTPS)
        • Alex
      • Security related improvements
        • ARM Amazon
      • Possibly a working group on middleware
      • Web based visualization tool
        • TRI
      • Gazebo
        • TRI
      • Microcontroller support
        • ARM
      • Heterogeneous computing
        • ARM
        • Denso (arm32)
        • Microsoft (arm32)
      • General platform support
        • 16.04 Xenial Support
          • Apex
        • How do we determine the goal platforms
        • Potentially infinite work with
        • Reference architectures, such as TB3
          • Include compute and
        • Qt has a possible model
          • Tier 1 platforms all fully tested
          • Tier 2 platforms are only tested periodically.
          • Tier 3 platforms will probably work but they don’t test them
          • Amazon is interested
          • Possible approach
            • Tier 1 support requires contributions
            • Tiier 2 can be added but only tested at release time
      • It would be good to fill in extra FTEs in the roadmap
      • How should we organize the work?
        • Trying to do the work in the open.
          • Discourse/github issues
      • Open robotics can’t oversee the process, the TSC can charter new working groups. It would be good to have Open Robotics in working groups. Can provide high level strategic feedback/vision.
      • It would be good to have some oversight of migration techniques.
    • Approve and publish the roadmap.


  • Update Charter
  • Review and prepare official minutes
  • Create communication channel

Posts: 5

Participants: 4

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by @tfoote Tully Foote on September 25, 2018 09:32 PM

Discussion on ROS to ROS2 transition plan

@mkhansen wrote:

I’d like to start a discussion on the ROS to ROS2 transition plan. I know there are many users of ROS today, and that ROS2 is not yet fully featured, but I believe we need a plan to get the community to transition on to ROS2 as soon as possible. I believe that ROS2 can and will be better than ROS in the long run, and the sooner we get the community support in getting it ready the better.

There’s also this: https://pythonclock.org/

Python 2.7 is going to EOL in 2020, and there are ROS dependencies on Python 2 that would need to be resolved in order to do a 2020 release on Ubuntu 20.04 and other OS’s. That could be a lot of work, that in my opinion, would be better spent on improving ROS2 and porting more packages to ROS2.

Given that ROS Melodic was just released, and that OSRF is committed to supporting it for 5 years, until June of 2023, it seems we have 4.5 years to move to ROS2, even if another ROS release doesn’t happen in 2020.

I also realize that there is a planned 2019 release - ‘Noetic’. Since that isn’t on a Ubuntu LTS, I’m not sure how many in the community will move to that, but that could be discussed also.

So, I’d like to know other users thoughts. Is 2023 enough time to move fully to ROS2? Do we need a LTS release in 2020? My proposal is to forgo a ROS release in 2020 and put the effort in to ROS2 instead.

We would need to work together as a community to improve ROS2 to the point that it is ready. I believe we can make that happen soon.

Posts: 47

Participants: 19

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by @mkhansen Matt Hansen on September 25, 2018 09:03 PM

ROSCon 2018 Informal Meetings of Special Interest Groups

@tfoote wrote:

Ahead of ROSCon 2018, we’re inviting organizers of informal meetings for special interest groups to post in this thread for attendees to see. Note that we don’t have dedicated birds of a feather sessions in the schedule this year, but there are times in the schedule where informal meetings will fit in nicely such as the conference coffee breaks, pre-conference breakfasts, post-conference dinners, etc.

Discourse users not attending ROSCon are reminded that they can unsubscribe from this topic if they don’t wish to receive notifications.

Template for posts (the "how to find us" field can be updated on the day by editing your post):

# <What>; (e.g. My special interest group meeting)



**How to find us:**

This floorplan of the conference venue can be used for planning the meeting locations. Spaces on the floorplan that are not colored are not reserved for ROSCon’s use.

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Participants: 20

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by @tfoote Tully Foote on September 25, 2018 07:39 PM

ROSCon Japan 2018 Successfully Concluded

The first officially licensed local ROSCon event, ROSCon JP 2018, was held in Tokyo, Japan on the 14th of September. ROSCon JP 2018 was held in conjunction with the Open Source Robotics Foundation.


189 people participated on the day (excluding sponsors' invitations and staff). The livestream had a steady 60 to 70 people watching at any one time throughout the day. Thanks to all the participants, ROSCon JP was an exciting day for all. Presentation slides and videos will be published on the website in a few weeks.

The invited talks from Brian Gerkey (Open Robotics) and Nicholas Yeo (ROS-Industrial Asia Pacific), 14 submitted talks, 13 lightning talks, 26 exhibitors' booths, and everything else about the conference was of high quality. Topics of presentation included

  • a presentation from Panasonic comparing navigation using the navstack with using commercial navigation system for hospital delivery robots;

  • the use of ROS in space robotics by JAXA;

  • the application of ROS and Gazebo to a marine robotics challenge (which finished with a surge in donations to the presenters' crowdfunding page to help them attend the next challenge); and

  • a discussion of how Sony applied ROS to the development of the newest Aibo. (Find out more at ROSCon 2018 in Madrid)

A catered lunch and reception and a popular exhibitors' hall provided many opportunities for participants to mix with each other and make new connections.



ROSCon JP 2018 was sponsored by the following companies and organisations:

Platinum: Sony

Gold: Renesas, Seqsense, Tier IV, iSiD, Analog Devices, TIS, SICK

Silver: eSOL, GROOVE X, EAMS Lab

Bronze: Honda Research Institute Japan, RT Corporation, Mamezou, INTEC, Robotis, Z Robotix

Friendship: Tokyo Opensource Robotics Kyokai Association

As our first event, we consider ROSCon JP 2018 to have been a massive success and a credit to the Japanese ROS user community.

by Tully Foote on September 25, 2018 06:02 PM

September 24, 2018
World ROS-I Day – What went down and what it means

The ROS-Industrial global community organized and pulled together the first World ROS-I Day, inspired by the successes of World MoveIt! Day, but focusing on the repositories relevant to ROS-I. We had five sites signed up to host, and we meet up in virtual collaboration rooms as well. The event kicked off from Asia, led by our friends at ARTC in Singapore, ROS-I Asia-Pacific, handing off to the EU, hosted by Fraunhofer IPA, then finally to the Americas, hosted by SwRI’s ROS-I Team located at LiftOff, thanks to PlusOne Robotics, in San Antonio, Texas.

The Asia-Pacific team was joined by a team based in Delhi, India, and the U.S. team was also joined by the Open Robotics team in Mountain View, California. Though these were the meet ups that we were aware of, there were a number of additional teams and individuals that contributed, and the ROS-I developing teams have been happy to see the level of engagement, and hope we can maintain this level of participation moving forward.

 ROS-I Asia-Pacific Meet Up

ROS-I Asia-Pacific Meet Up

 Monitor View of U.S. Location (LiftOff, San Antonio, Texas) and EU Location  (Fraunhofer IPA)

Monitor View of U.S. Location (LiftOff, San Antonio, Texas) and EU Location

(Fraunhofer IPA)

 Developers Working on Issues

Developers Working on Issues

We were excited to get to work and do some clean up with the ROS-I teams on the various repositories and packages, working on a predefined list of issues. The ROS-I development teams started with a list of repositories as the focus of the inaugural World ROS-I Day on July 11. This enabled for making of a manageable scope and allowed for tracking of progress throughout the day.

The repositories included for the event were:

On the ros-industrial organisation:

  • ros_industrial_issues

  • industrial_training

  • industrial_ci

  • industrial_moveit

  • industrial_core

  • ros_qtc_plugin

  • robotiq

  • universal_robot (except driver infrastructure)

  • ros_canopen

Also over at the ros-industrial-consortium organization:

  • Descartes

  • Descartes tutorials

The maintainers worked up reviewing the repositories and classifying the issues and including them in an issue board. This really enabled the organization and workflow for the event. We had designated assigners for issues and leveraged an IRC chat room to do assignment of issues and enable efficient communication for remote teams. Within the rooms we had to be careful managing that we did not do redundant work. Though a few times issues were worked by multiple developers, for the most part, the event went off well considering the logistical challenges that can be encountered when working across multiple time zones around the world.

Over the 22 hours that World ROS-I Day was in-flight, 31 issues were closed and there are, at this time, 16 Pull Requests to be reviewed, with a handful of assigned issues still being worked, per the issue board.

 WRID18 Issue Board

WRID18 Issue Board

Overall, the ROS-I team, and we hope all those that leverage ROS-Industrial repositories, feel this was a worthwhile and a quite successful event. Traffic statistics indicate that the repositories of interest saw sustained activity even after World ROS-I Day.

Views and Uniques-WRID.jpg Unique Visitors WRID.jpg

Moving forward, we are working to continue the momentum. This will manifest itself in an effort to improve the monthly ROS-I Developers’ Meeting, which we have been working to socialize via the ROS-I Discourse Category at https://discourse.ros.org/t/ros-i-developers-meeting/5047/18. Furthermore, we are excited to continue our support of World MoveIt! Day this October. And, of course, we are excited to begin the planning for a follow World ROS-I Day, and are looking forward to getting the feedback from the developing community for how to make this event more meaningful and engaging.

It is an exciting time in open-source software as an interest is advancing in industrial and manufacturing automation capability. We look forward to continue engaging the development community and to provide avenues for collaboration. ROS-I set out to be an open-source project to bring the power of ROS to industrial applications. Along the way, it has at times, been difficult to bring the developing community to these same applications. We hope through engagement and meaningful collaboration events, we can build that community, and we hope you look forward to laying those foundational pieces with us.

Keep an eye out for updates on planning/details for World MoveIt! Day, and of course the second annual World ROS-I Day, potentially in the first quarter of 2019, but of course, we are open to timing recommendations. Thanks for your continued interest in open-source for industrial automation!

by Matthew Robinson on September 24, 2018 09:31 PM

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