May 18, 2019
Indigo Igloo Officially EOL

@tfoote wrote:

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

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

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

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

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

Maintainers

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

Dirk Thomas, Vincent Rabaud, Kei Okada, Tully Foote, Russell Toris, Michael Ferguson, William Woodall, Jihoon Lee, Daniel Stonier, Isaac I.Y. Saito, Mikael Arguedas, Florian Weisshardt, Paul Bovbel, Mike Purvis, Dave Coleman, Vladimir Ermakov, Davide Faconti, Ioan Sucan, AlexV, Johannes Meyer, ipa-fxm, TheDash, Isaac IY Saito, Jack O’Quin, alexv, P. J. Reed, Martin Günther, Tony Baltovski, Kevin Hallenbeck, Joshua Whitley, Niklas Yann Wettengel, Alexander Tiderko, Mickael Gaillard, Justin Huang, SawYer-Robotics, Bence Magyar, Andy Zelenak, Kentaro Wada, Jennifer Buehler, Fabien Spindler, Esteve Fernandez, Chad Rockey, carlos3dx, Adolfo Rodriguez Tsouroukdissian, Natalia Lyubova, Felix Ruess, Armin Hornung, gavanderhoorn, trainman419, Miquel Massot, Ian McMahon, Daiki Maekawa, Christopher Berner, Karsten Knese, Dan Lazewatsky, Atsushi Watanabe, Gayane Kazhoyan, Felix Mauch, Christoph Rösmann, matlabbe, Jose Luis Rivero, Jose Luis Blanco, shadowmanos, Rohan Agrawal, Peter Weissig, Matt Alvarado, Ed Venator, David Kent, nlyubova, dash, Mani Monajjemi, Edward Venator, Carlos Villar, Tom Moore, Sabrina Heerklotz, Nick Hawes, Mark D Horn, Konstantin Schauwecker, Gaël Ecorchard, Anqi Xu, perezsolerj, Shengye Wang, Piyush Khandelwal, Ioan A Sucan, Shaun Edwards, Ryosuke Tajima, Peter Fankhauser, Fadri Furrer, Akif, Sachin Chitta, Richard Bormann, Philipp Schillinger, David V. Lu!!, DaikiMaekawa, AliquesTomas, Alexander Winkler, xuefengchang, Ruben Smits, Martin Pecka, Martin Guenther, Georg Bartels, AndyZe, Adam Leeper, Aaron Blasdel, fmessmer, Takashi Ogura, Raphael Memmesheimer, Mehmet Akcakoca, Jose-Luis Blanco-Claraco, robot, Toni Oliver, RomanRobotnik, Mark Horn, Jan Winkler, Jackie Kay, wnowak, flg-pb, davide, dan brooks, croesmann, corot, atp, Shane Loretz, Samuel Bachmann, Ronald Ensing, Patrick Beeson, Mitchell Wills, Mathias Lüdtke, Ken Tossell, Jon Binney, Andreas Hermann, margueda, fsuarez6, Takeshi Chiku, Takamasa Sasagawa, Phoenix, Mikael ARGUEDAS, Matei Ciocarlie, Jim Rothrock, Hamdi Sahloul, Ha Dang, kintzhao, fmina, dwlee, durovsky, baishi.bona@gmail.com, Shokoofeh Pourmehr, Sebastian Kasperski, Sarah Elliott, MoriKen254, Matthias Hadlich, Mathieu Labbe, JerryLiu, Hunter Allen, Francis Colas, Eric Perko, David Lu, Chris Lalancette, Carlos Aguero, Andy Wilson, Alexander, zmk5, uavc, procopiostein, ipa-nhg, christoph, Wolfgang Merkt, Todor Stoyanov, Sam Pfeiffer, Reed Hedges, Pramuditha Aravinda, Pep Lluís Negre, Murilo FM, Morgan Quigley, Marc Hanheide, Levi Armstrong, Jordi Pages, Jeremie Deray, Felix Marek, Dave Feil-Seifer, Austin, Alexander Bubeck, silviomaeta, lukscasanova, enriquefernandez, banerjs, babaksit, Wouter Caarls, Vincent Rousseau, Tobias, Timo Röhling, Tim Niemueller, Siddhartha Banerjee, Scott K Logan, Sammy Pfeiffer, Roman Fedorenko, Kristof Robot, Jorge Santos Simón, Jacob Perron, George Stavrinos, Felix Duvallet, Federico Spinelli, Dr. Konstantin Schauwecker, Christian Holl, Carlos Agüero, Austin Hendrix, Alex Moriarty, Alberto Invernizzi, xaxxontech, user, turtlebot, sukha-cn, plnegre, michaelpantic, michael1309, liminglong, jgmonroy, felramfab, chapulina, ayrton04, atenpas, archielee, andre-dietrich, albertoinvernizzi, ahb, Tim, Steven Peters, Sebastian Pütz, Samuel Charreyron, Sam, Rik, Péter Fankhauser, Pyo, Procópio Stein, Praveen Palanisamy, Micho Radovnikovich, Michael Lehning, Matej Sladek, Maciej Żurad, KristofRobot, Komei Sugiura, Kenneth Bogert, Joseph Duchesne, Jose Luis Blanco-Claraco, Jonathan Bohren, Ji Zhang, Hendrik Meijdam, Felix Messmer, Felix Endres, Enrique Fernandez, DevonAsh, David V. Lu, David Fischinger, Christos Zalidis, Chittaranjan Swaminathan Srinivas, Brian Bingham, Aqua, Angel Merino, AndyZelenak, Alexander Stumpf, zhukovv, thachdd88, simonpierredeschenes, rdelgadov, procopio, ob-tim-liu, nrgadmin, lth, kmhallen, kint.zhao, kazuyamashi, icarpis, iav-student, gus484, gregvi, fspindle, brice rebsamen, auboliuxin, amineHorseman, agentx3r, ZhuangYanDLUT, Zahi Kakish, Yu-Tang Peng, Yoshihiro Miyakoshi, Thomas Bamford, Thiago de Freitas Oliveira Araujo, Surya Ambrose, Silvio Maeta, Rodrigo Alexis Delgado Vega, RoboHacker, Robert Haschke, Reagan Lopez, Philippe Capdepuy, Paul Szenher, Patrick Wiesen, Patrick Goebel, Osiron007, Nishant Kejriwal, Nelapsi, Nadia Hammoudeh García, Mustafa Safri, Michele Colledanchise, Matt Curfman, Markus Bader, Markus Achtelik, Luis Rodrigues, Julian Cerruti, Jonathan Jekir, Jochen Sprickerhof, Javier Perez, Jarvis Schultz, Hunter L. Allen, HannesSommer, Guilhem Saurel, G.A. vd. Hoorn, Furushchev, Eurecat Robotic Lab, Erwan Le Huitouze, Eric Wieser, Dustin Gooding, Denis Štogl, Damon Kohler, Christoph Sprunk, Christian Dornhege, Chris Zalidis, Arun Das, André Araújo, Andriy Petlovanyy, Alexander W Winkler, Alex Brown, Alex Bencz, Alan Meekins, Akif Hacinecipoglu, Adriano Henrique Rossette Leite, AIDS, μRoboptics, zlt1991, yotabits, yincanben, wlfws, v01d, toliver, tn0432, smoker771, smoker77, sm, sabrina-heerklotz, ruipimentelfigueiredo, rgariepy, pirobot, pietrocolombo, mmurooka, mike, micros-uav, mcantero, markus.kuehn@th-nuernberg.de, liux44, lentin, jrgnicho, joselusl, ipa-mig, ipa-jcl, genexusdev, gaspereira, ferherranz, dronesinma, dhood, csherstan, corb555, codebot9000, chikuta, bona, angel, andrewsilva9, airglow, Yug Ajmera, YoshihiroMIYAKOSHI, YoonseokPyo, Yam Geva, Xi (Matthew) Liu, Wolfang Hoenig, Walter Nowak, Wagdi Ben yaala, Victor Lopez, Veronica Lane, Velin Dimitrov, Trung Nguyen, Tom Panzarella, Tokyo Opensource Robotics Developer 534, Todd Hester, Tobias Allgeyer, Thomas, ThachDoNRMK, Soy Robotics, Simon Lynen, Ryan Keating, Ryan Gariepy, Ryan Borchert, Rousseau Vincent, Roman Navarro Garcia, Roman, RoboTiCan, Roberto Martín-Martín, Roberto Martin-Martin, Raffa87, Pulse Developer, Peter Mitrano, Perrine Aguiar, Paul Mathieu, Patrick F, Pascal Becker, NCS 3D Sensing Team, Mike Hosmar, Michal Drwiega, Micha Rappaport, Matouš Jezerský, Masaru Morita, Mario Prats, Maria, Maram-Alajlan, Manos Nikolaidis, Lukas Jelinek, Luetkebohle Ingo (CR/AEX3), Lucid One, Lennart Puck, Kirill Krinkin, Kacper, Jrdevil-Wang, Jose Luis Sanchez Lopez, Jorge Nicho, Jorge Arino, Jonathan Allen, Job van Dieten, Jeongsoo Lim, Itay Carpis, Itamar Eliakim, Isura Ranatunga, Ingo Lütkebohle, Ignacio Carlucho, IanTheEngineer, Hunter Laux, Hassan Umari, Gérald Lelong, Gert Kanter, Georg Heppner, Geoffrey Biggs, Francisco Vina, Francisco J Perez Grau, Felicien93, Federico, Enrique Fernández Perdomo, Dorian Scholz, Diogo Almeida, DinnerHowe, Denis Dillenberger, David Uhm, David Portugal, David Feil-Seifer, Daisuke Sato, Claudio Bandera, Christian Rauch, Christian Pfitzner, Chittaranjan Srinivas Swaminathan, Chambana, Chad Attermann, Carnegie Robotics LLC, Buildbot Squirrel, BryceVoort, Brandon Alexander, Bingham, Brian S, Antons Rebguns, Andre Araujo, Allison Thackston, Alexis Maldonado, 491734045

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by @tfoote Tully Foote on May 18, 2019 08:38 PM

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

@TheConstruct wrote:

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

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

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

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

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

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

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

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

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

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

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

@clalancette wrote:

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

Full details are below.

Package Updates for melodic

Added Packages [43]:

Updated Packages [51]:

Removed Packages [0]:

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

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

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

New Packages for Lunar 2019-05-14

@clalancette wrote:

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

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

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

Full details are below.

Package Updates for lunar

Added Packages [17]:

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

Updated Packages [39]:

Removed Packages [0]:

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

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

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

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

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

Michael Ripperger & Joseph Schornak on location at Automate 2019

Michael Ripperger & Joseph Schornak on location at Automate 2019

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

ROS2 Strengths and Challenges

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

Block Diagram of SwRI ROS-I Automate 2019 Demonstration

Block Diagram of SwRI ROS-I Automate 2019 Demonstration

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

TrajOpt Path Planning Implementation & Testing

TrajOpt Path Planning Implementation & Testing

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

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

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

More Collaborative Robots

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

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

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

Showcasing Perception and Planning Potential

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

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

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

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

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

ROS-Industrial Consortium Europe is heading towards ROS2

With the growing excitement and curiosity surrounding ROS2, ROS-Industrial Consortium Europe (RIC-EU) had the pleasure to host the Spring 2019 edition of the RIC-EU Tech Workshop. It took place on May 6th and 7th at Fraunhofer IPA in Stuttgart, Germany. Some of the main drivers of DDS and ROS2 developments personally presented their insights and gave hands-on sessions during the event. For this, participants were provided with USB sticks with Ubuntu Bionic and ROS Melodic and ROS Crystal pre-installed (just as for all our ROS-Industrial trainings). The event has been free for worldwide members of any ROS-Industrial Consortium and was fully booked out with 40 people attending from all over Europe.

On Day 1, the workshop started with RIC-EU manager Thilo Zimmermann who welcomed the participants at Fraunhofer IPA and introduced the ROS-Industrial Consortium Europe and its EU project funding opportunity (next cut-off dates June 14 and September 13, 2019).

As ROS 2 supports multiple DDS/RTPS implementations, RIC-EU proudly hosted one of the most popular DDS vendors, eProsima, to explain the main concepts of DDS and present their stack at the workshop. During the five hours of presentations and hands-on workshops, Borja Outerelo Gamarra and Jaime Martin Losa covered topics like DDS Introduction, presentation of the standard and motivation of DDS & DDS Architecture, and DDS QoS. Attendees practised on a “hello world” example.

20190506_142557[1].jpg

On Day 2, Ralph Lange from RIC-EU member BOSCH gave an in-depth presentation of the current status of ROS2. He included hands-on tasks using ROS2 and sow new features and also provided information on the upcoming d-turtle “Dashing Diademata” release on May 31, 2019.

20190507_090637[1].jpg

The second presentation by Ingo Lütkebohle, also from BOSCH Corporate Research, introduced the micro-ROS activity. Ingo is one of the investigators of the EU funded OFERA project, which ports ROS2 to “extremely resource constrained devices” (usually, microcontrollers) with the new DDS XRCE standard. He demonstrated this by using a Cortex M4 board mounted on a first generation Turtlebot.

20190507_113032[1].jpg

After a lunch break, Ludovic Delval of Fraunhofer IPA gave a hands-on workshop on how to migrate ROS1 node to ROS2. Lastly, Harsh Deshpande, also from Fraunhofer IPA, previewed the porting of the ur_modern_driver to ROS2 and presented a proposal for the action_bridge, which currently bridges between ROS1 action client and ROS2 action server.

At the end of the workshop, participants and ROS-Industrial Consortium members agreed that 2019 is promising a lot of developments in ROS2. In April at ROS-I Consortium Americas 2019 Annual Meeting, RIC members interacted and exhibited an interesting panel session titled “Is ROS2 Ready for the Factory Floor”. In June, Ludovic Delval of Fraunhofer IPA will present the latest updates at ROSCon France in Paris and Harsh Deshpande at the ROS-Industrial AP Workshop 2019 in Singapore.

The next RIC-EU Tech Workshop is foreseen for Fall 2019 (tentative dates October 09-10). The 2019 edition of the ROS-Industrial Conference is planned on December 10-12, 2019 (save the date!).

by Thilo Zimmermann on May 13, 2019 03:55 PM

[LIVE Class] How to make the Robot pick objects. (14 May at 6 pm CEST)

@TheConstruct wrote:

ROS Developers LIVE-Class #57: How to pick an object from the table

ABOUT
Picking an object from a table is a basic skill for a robot that wants to help us. In this class, we’ll learn how to do the two basic movements required to pick a cube from a table, provided that we know where the cube is (it is supposed that the perception system provided us the position).

ROBOT USED IN THIS CLASS
Fetch robot from Fetch Robotics

LIVE DATE & TIME
Tuesday, 14 May, 2019 at 6 pm - 7 pm CEST

HOW TO JOIN THE CLASS

  • FREE event open for everyone, the only thing you may need to do is “set reminder” on our YouTube channel.
  • We will share the full ROSject (containing robot simulation, notebook with instructions and code) with all the attendants at the beginning of the class. Remember to be on time.
  • In Live Classes, you will practice with the instructor at the same time, with the provided free ROS material.

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by @TheConstruct The Construct on May 13, 2019 09:15 AM

May 11, 2019
New Packages for Indigo 2019-05-10

@tfoote wrote:

Hi Everyone,

We’re happy to announce one final sync for Indigo Igloo.

Thank you to everyone who has contributed to this sync as well as the many other syncs that have helped make this the largest ROS distro yet with 2780 packages!

Full details are below.

Package Updates for indigo

Added Packages [4]:

Updated Packages [19]:

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 Tiderko
  • David Feil-Seifer
  • Martin Günther
  • Praveen Palanisamy

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by @tfoote Tully Foote on May 11, 2019 01:02 AM

May 10, 2019
New Packages For Kinetic 2019-05-10

@tfoote wrote:

We’re happy to announce 11 new packages and 69 updated packages for ROS 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 [11]:

Updated Packages [69]:

Removed Packages [0]:

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

  • Alexander Gutenkunst
  • Alexander Tiderko
  • David Feil-Seifer
  • Felix Ruess
  • Geoff Viola
  • George Stavrinos
  • Hans-Joachim Krauch
  • Jose-Luis Blanco-Claraco
  • Krzysztof Żurad
  • Martin Guenther
  • Martin Günther
  • Masaya Kataoka
  • Pierre-Louis Kabaradjian
  • Praveen Palanisamy
  • ROS Orphaned Package Maintainers
  • Roberto G. Valenti
  • Russel Howe
  • Russell Toris
  • Tully Foote
  • Wolfgang Merkt
  • masaya kataoka
  • matsui_hiro
  • nakamichi_d

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by @tfoote Tully Foote on May 10, 2019 10:22 PM

May 07, 2019
Featured ROSCon 2018 Talks

@tfoote wrote:

As we start to get ready for ROSCon 2019 we will be featuring talks from the ROSCon 2018 archive to help inspire people to submit their own talks as well as give people a sense of what they can look forward to at ROSCon 2019!

Reminders:

  • The call for workshops is open
  • Applications for the Diversity Scholarship is open
  • Registration is open
  • Sponsorship opportunities are available

Astrobee: ROS-based Flight Software for a Free-flying Robot in Microgravity
Andrew Symington (NASA, Stinger Ghaffarian Technologies & KBRWyle) Video Slides

Astrobee is a free-flying robot designed by NASA to operate alongside astronauts inside the International Space Station, where it will carry out scientific and surveying tasks in microgravity. The robot can autonomously mate with a docking station to recharge, as well as perch to existing ISS handrails using a three degrees of freedom arm. Its open source flight software stack is built on ROS Kinetic, uses a delay-tolerant DDS bridge for space-to-ground communication, and is accompanied by a Gazebo simulator that enables researchers to develop and test behavioral algorithms. This presentation covers the the software architecture, challenges faced during the development process, facilities for testing prototype hardware, and broad lessons we have learned over the last three years.


Thank you again to our Platinum Sponsor Amazon, and to all our Gold Sponsors: Acutronic Robotics, ADLINK, Apex.ai, Clearpath Robotics, eProsima, Fetch Robotics, iRobot, Microsoft, Rapyuta Robotics, ROBOTIS, Silexica, Tier IV, Toyota Research Institue, and Ubuntu.

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by @tfoote Tully Foote on May 07, 2019 11:09 PM

May 03, 2019
Call for Chapter Springer Book on Robot Operating System (ROS) Volume 5 - June 01, 2019

@Anis_Koubaa wrote:

Hello

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

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

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

For more details about the call for chapters and submission process to Volume 5, please refer to
http://www.riotu-lab.org/rosbook/

Thanks
Anis Koubaa
Book Editor

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by @Anis_Koubaa Anis Koubaa on May 03, 2019 10:14 AM

April 29, 2019
New Packages for Kinetic 2019-04-29

@tfoote wrote:

We’re happy to announce the release of 41 new packages and 114 updated packages into Kinetic. These packages are brought to you by more than two dozen maintainers and many more contributors.

Thank you to everyone who has helped make this sync possible. Full details are below.

Package Updates for kinetic

Added Packages [41]:

Updated Packages [114]:

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 Bubeck
  • Alexander W. Winkler
  • AutonomouStuff Software Development Team
  • Benjamin Maidel
  • Davide Faconti
  • Doosan Robotics
  • Emre Ege
  • Fabien Spindler
  • Felipe Garcia Lopez
  • Felix Messmer
  • G.A. vd. Hoorn
  • G.A. vd. Hoorn (TU Delft Robotics Institute)
  • Jannik Abbenseth
  • Jose Luis
  • Jose Luis Blanco Claraco
  • Jose-Luis Blanco-Claraco
  • Kei Okada
  • Marc Hanheide
  • Markus Bader
  • Masaya Kataoka
  • Mike Purvis
  • Musa Morena Marcusso Manhaes
  • Nick Hawes
  • Nikos Koukis
  • Paul Bovbel
  • Philipp Schillinger
  • Rein Appeldoorn
  • Richard Bormann
  • Rohan Agrawal
  • Thibault Pelletier
  • Vladimir Ermakov
  • Vladislav Tananaev
  • Yoshito Okada
  • jinhyuk.gong
  • matsui_hiro
  • nakamichi_d

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by @tfoote Tully Foote on April 29, 2019 08:52 PM

April 26, 2019
## CALL FOR CONTRIBUTIONS: ROS Developers Conference 2019 (ROSDevCon2019) ##

@Maricho_CM wrote:

CALL FOR CONTRIBUTIONS: ROS Developers Conference 2019 (ROSDevCon2019)

ROS Developers Conference 2019: An online conference for ROS developers worldwide
Date: June 15-16, 2019
Conference website: http://www.rosdevcon.com

Dear colleagues,

This is a reminder of our call for contributions.

[ OVERVIEW ]

The ROSDevCon 2019 is a hands-on online conference for ROS developers. The conference aims to connect ROS developers around the world without geographical restrictions and to advance ROS levels through real-time practice.

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

  • Access to the conference LIVE streaming
  • Full access to the ROS Development Studio (ROSDS) for programming
  • Full access to the online chat tool with all participants and ROS experts
  • Access to all packages with pre-defined code
  • An e-book of ROS2 Basics.

[ IMPORTANT DATES ]

  • Submission Deadline: April 30, 2019
  • Notification of acceptance: May 15, 2019
  • Final tutorial submission: June 7, 2019

[ CALL FOR TUTORIALS ]

If you are interested to submit a proposal, the instructions to do so are as follows:

  • Tutorials can target any field of ROS or ROS2 and should focus on practice, in order to provide a real practical conference for participants and to exchange results and ideas. (if you want to know more about how it works, please check the previous ROSDevCon2018)
  • The tutorial should last 30 min + 10 min for Q&A.
  • The submission of a tutorial must contain the following information:
    • Title
    • A brief introduction about yourself
    • Statement of objectives: what is your speech about and what are you going to make attendants practice
  • Submit your proposals to: tutorial@rosdevcon.com

If your tutorial is accepted, you will have to prepare the following material (with our support):

  • A notebook with the tutorial
  • Package with the pre-defined code for participants

[ KEYNOTE SPEAKERS ]

  • Dominik Nowak (CEO at Husarion)

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

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by @Maricho_CM Marisol Cm on April 26, 2019 01:47 PM

April 25, 2019
New Packages for Indigo 2019-04-25

@tfoote wrote:

We’re happy to announce 20 updated packages for Indigo. This is planned to be the penultimate sync for Indigo as both it and Ubuntu Trusty are approaching their EOL.

Thank you to everyone who as contributed to this sync. Full details are below.

Package Updates for indigo

Added Packages [0]:

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:

  • Alexander W. Winkler
  • Fabien Spindler
  • P. J. Reed
  • Philipp Schillinger

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by @tfoote Tully Foote on April 25, 2019 04:57 PM

MoveIt 1.0 Survey

@davetcoleman wrote:

Now that MoveIt 1.0 is officially released, we are polling the community of MoveIt users to get feedback about MoveIt. How easy it is to setup/use? What features are popular? What new features users would like to see in MoveIt? This survey should take less than 5 minutes to fill out. This form will stay open until May 15th. We will share the results after all the results are gathered.

MoveIt Survey

Thanks!

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by @davetcoleman Dave Coleman on April 25, 2019 04:05 PM

April 24, 2019
New packages for Melodic 2019-04-24

@clalancette wrote:

We’re happy to announce the next update for ROS Melodic. We have 64 new packages as well as 78 updated packages.

Full details are below.

Package Updates for melodic

Added Packages [64]:

Updated Packages [78]:

Removed Packages [0]:

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

  • AWS RoboMaker
  • Alex Moriarty
  • AlexV
  • Alexander Carballo
  • Alexander Gutenkunst
  • Alexander Sherikov
  • Alexander W. Winkler
  • Austin Hendrix
  • AutonomouStuff Software Development Team
  • Bence Magyar
  • Carnegie Robotics
  • Chad Rockey
  • Christopher Berner
  • Daniel Stonier
  • Dave Coleman
  • Davide Faconti
  • Devon Ash
  • Dongwook Lee
  • Fabien Spindler
  • Hans-Joachim Krauch
  • Jannik Abbenseth
  • Jose Luis
  • Jose Luis Blanco Claraco
  • Jose-Luis Blanco-Claraco
  • Kei Okada
  • Markus Bader
  • Masaru Morita
  • Mike Purvis
  • Musa Morena Marcusso Manhaes
  • Nikos Koukis
  • Philipp Schillinger
  • Pilz GmbH and Co. KG
  • RDaneelOlivaw
  • ROS Orphaned Package Maintainers
  • Rein Appeldoorn
  • Ronald Ensing
  • Russell Toris
  • Sachin Chitta
  • Sebastian Kasperski
  • Vincent Rousseau
  • Vladimir Ermakov
  • Vladislav Tananaev
  • Yoshito Okada

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by @clalancette Chris on April 24, 2019 01:28 PM

April 23, 2019
Wanted: ROS assistance in Portland, OR

@tomsepe wrote:

I’ve been teaching myself ROS over the last couple months but I could really use a collaborator or at least some guidance for an upcoming project with a September 2019 deadline.

This would be for a interactive humanoid robot (non-walking) using Dynamixel PRO servos.

Knowledge of Python is required and Bonus if you are familiar with Blender3D and/or Touchdesigner.

Thanks

Tom Sepe

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by @tomsepe Tom Sepe on April 23, 2019 02:47 PM

Stereolabs announces the new ZED SDK v2.8

@Myzhar wrote:

The new ZED SDK 2.8 brings Network Streaming, Point Cloud Scanning, and a new ROS2 Wrapper

A full list of the new features is available on the Stereolabs blog:

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by @Myzhar Walter Lucetti on April 23, 2019 02:21 PM

April 22, 2019
ROSCon 2019 Diversity Scholarships: Applications Open

@chapulina wrote:

ROSCon 2019 Diversity Scholarships: Applications Open

Whoever you are, whatever you do, and wherever you do it, if you’re interested in ROS, then we want you to join us at ROSCon in Macau October 31st – November 1st!

Scholarship

The ROSCon 2019 organizing committee aims for ROSCon to represent the entire ROS community, which is diverse and global. In addition to promoting technology that is open source, we strive to ensure that our community is as open and accessible as possible. Inclusion and diversity benefit the ROS ecosystem as a whole.

To help reduce financial barriers to conference attendance, the ROSCon organizing committee is offering a number of scholarships to members of traditionally underrepresented groups in the robotics community. Thanks to the support of the program’s sponsors, each scholarship includes one complimentary conference registration and three nights’ accommodation shared with another recipient*. Limited travel support is available for participants whose travel to the conference would otherwise be infeasible**. Please note that all other expenses (including any visa requirements) will be the responsibility of the participant.

*To maximize the impact of scholarship funds, scholarship recipients will be asked to share a room with another recipient. Under special circumstances alternative arrangements can be accommodated.

**Participants will be responsible for covering their travel expenses up front, as the travel support will be provided after the conference has been attended.

Eligibility

We invite applications from members of groups that have been traditionally underrepresented in the robotics community, including but not limited to: women, people in LGBTQIA communities, people with disabilities, people from racial and/or ethnic minorities in the robotics community, and people from developing nations who may not otherwise be able to attend ROSCon.

Previous ROSCon Diversity Scholarship recipients are not eligible to re-apply.

We are proud to share this feedback from past participants of the Diversity Program.

The ROSCon Diversity Scholarship Program provided me with an opportunity that would have been completely impossible without it. I was able to attend my first robotics conference and feel empowered to keep working to try and make a positive impact on this community. Also, it was very encouraging to see so many companies stepping up to promote and enable diversity within their companies and the robotics community. Thank you!

ROSCon 2017 scholarship participant

ROSCon has been an incredible experience. It is really encouraging to see that everyone in the robotics community is really welcoming and willing to share their expertise. I learned a lot and I met incredible people. This experience inspired and motivated me to contribute more to the robotics community and make a positive impact.

ROSCon 2018 scholarship participant

We also have a blog post of the 2017 Diversity Program.

Sponsors

The ROSCon 2019 Diversity Program is made possible with generous support from the following sponsors:

Acutronic Robotics

Apex.AI

Autoware

Centre for Healthcare Assistive & Robotics Technology

Changi General Hospital

Locus Robotics

Tier IV

If your organization is interested in getting involved in the Diversity Program, please contact us: roscon-2019-oc@openrobotics.org

How to apply

To apply, fill out this form by June 2nd 2019, describing how you are involved with ROS and the robotics community, and what you hope to get out of attending ROSCon. Scholarships will be awarded based on a combination of need and impact. Every applicant will be notified of the outcome of their application.

For more information about ROSCon 2019, including the program, code of conduct, and childcare options, please see http://roscon.ros.org/2019.

Thank you to the conference Platinum Sponsor, Amazon, and to our Gold Sponsors: Acutronic Robotics, ADLINK, Apex.AI, ClearPath Robotics, EProsima, Fetch Robotics, iRobot, Microsoft, Silexica, Rapyuta Robotics, ROBOTIS, Tier IV, Toyota Research Institute, and Ubuntu.

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by @chapulina chapulina on April 22, 2019 11:57 PM

ROSCon 2019: Call for Workshop Proposals

@DLu wrote:

ROSCon is expanding! In past years, members of the community could propose only talks. This year, we are extending the conference format so that you can submit:

  • Talks - As in previous years, the standard presentation format will be a talk, with the presenter(s) talking live in front of slides/video, with a brief question period at the end, fitting into a 10, 20 or 30 minute time slot.
  • Videos - One new format is the video presentation, with up to 2 minutes of self-contained audio-visual content, featured alongside the talks in the program. Videos will be presented without live narration or Q/A afterward.
  • Workshops - Also new this year are workshops, in which the presenter(s) will provide a hand-on in-depth look at a particular topic in a more interactive format, over the course of up to 3 hours.

This year’s ROSCon will also include invited panels and keynote speakers.

Today we are opening submissions for workshops. Please submit your workshop proposals here, no later than May 22nd, 2019.

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

General Content Guidelines:

All topics related to ROS are invited. Example topics include:

  • New packages / frameworks
  • Insights / improvements for existing packages
  • Case studies on unique ROS deployments / use cases
  • Developments for specific robots, sensors, platforms
  • Competitions / collaborations / initiatives
  • ROS in commercial / research / teaching environments
  • Standards / best practices / development tools

To get an idea of the content and tone of ROSCon, check out the slides and videos from previous years.

Review Criteria

All submissions will be reviewed by the program committee to evaluate:

  • Relevance to the ROS Community - The proposed content should use ROS in a substantial way, but beyond that, the work must also be relevant and compelling to a general ROS audience. Writing a ROS driver for a specific piece of hardware is an excellent contribution to the community, but describing the intricacies of its firmware may not be relevant to this audience. Furthermore, content should be relevant to a global and diverse community.
  • Quality of Content/Impact - We encourage proposals to contain big ideas with high impact. It is preferable that proposals have a demonstrable quality as opposed to being purely theoretical.
  • Quality of Presentation - Articulating your ideas clearly and grammatically is a key prerequisite for giving a compelling live presentation.
  • Originality/Novelty - Content should be original and not something that has already been heard before. Will this be the 40th talk on a particular topic at ROSCon? Or are you presenting something new?
  • Open Source Availability - Because we are an open-source community, proposals for which the underlying code and other content is available under an open source license have a greater chance of being accepted. It is not a hard requirement, but proposals focused on proprietary systems should contribute in some other way to the community. Promises of future release are difficult to evaluate, so having your content released at the time of proposal submission is preferred.

Additional consideration will be given to balancing the subject matter and duration of presentation.

We encourage proposals from presenters of all backgrounds and experience levels.

If you have any questions about whether your subject matter is appropriate, feel free to post on Discourse or contact the ROSCon 2019 Organizing Committee at roscon-2019-oc-full@openrobotics.org.

Workshop Submission Information

Workshop proposals must include

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

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

Deadlines

Submit your workshop proposal by May 22, 2019 here.

The opening of submissions for talks and for videos will announced separately.

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

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by @DLu David!! on April 22, 2019 11:46 PM

April 19, 2019
TSC Meeting Minutes 2019-04-18

@gerkey wrote:

ROS 2 TSC Meeting Minutes: 18 April 2019

  • Attendees:
    • Allison Thackston (TRI)
    • Brian Gerkey (Open Robotics)
    • Brian Shin (LG Electronics)
    • Dejan Pangercic (Apex.AI)
    • Dirk Thomas (Open Robotics)
    • Filipe Rinaldi (Arm)
    • Geoffrey Biggs (Tier IV)
    • Jaime Martin Losa (eProsima)
    • Jonathon Smereka (TARDEC)
    • Karsten Knese (Bosch)
    • Louise Poubel (Open Robotics)
    • Matthew K Hansen (Intel)
    • Rutvik Hora (Amazon)
    • Seonman Kim (LG Electronics)
    • Tully Foote (Open Robotics)
    • Victor Mayoral Vilches (Acutronic Robotics)
  • Old business:
    • [2 min] [Brian] ROS trademark update
      • Brian providing usage specimens to lawyers for filing.
      • TSC: volunteers to form small group to work on usage policy?
        • Geoff
        • Jaime
        • Brian
    • [2 min] [Brian] Elevator pitch
      • Brian iterating on draft with layout designer. Should have something ready in the next week or so.
        • Brian to integrate links (comment from Matt H.)
    • [2 min] [Brian] TSC content in ROS 2 docs
    • [2 min] [Dirk] Transition plan from waffle.io
      • waffle.io shuts down May 16 (https://waffle.io/)
        • Want public state to determine the status of the board.
        • Also want multiple organizations in a single board, but might not be achievable.
  • New business:
    • Working group document storage and communication channel
      • We’ll continue a thread in Discourse, tentatively looking at adding discourse categories to collect working groups in a hierarchy.
    • [2 min] [Brian] Open Robotics hiring Evangelist
    • [15 min] [Brian] Dashing release communication plan
      • Planned Support Cycle:
        • LTS: 2 years
      • Features: need to accumulate key feature list
        • Google doc for commenting open to everyone
        • Brian to set that up
      • Demos: who has demos to include?
        • Several TSC members planning to include demos, aiming for screenshots, videos, narrative text, and/or tutorials describing how to replicate the work.
        • Demos from outside the TSC also welcome!
  • Standing updates:
    • [15 min] [All] Release planning - dashing update:
      • Apex.AI
      • Acutronic Robotics
      • Bosch
        • Ongoing work with diagnostics. Waiting for PRs to be merged.
        • Preparing buildfarm CI job to build rosbag2.
      • Amazon
        • QoS PRs in progress. Working end to end with RTI & OpenSplice
        • Testing in progress against FastRTPS v1.8 that supports these QoS
        • Security threat model is merged. Contributions from Acutronic for MARA
        • ASAN/TSAN jobs are running. Our team is working on stack ranking and fixing issues.
      • eProsima
        • Deadline, lifespan, and liveliness QoS Supported on Fast RTPS 1.8
        • Static Memory allocations. It is a WIP, but discovery allocations will be all static in Fast RTPS 1.8, and many others.
      • Open Robotics
        • IDL support landed
          • 3rdparty generators need updates
          • Rospy generated content now leverages numpy might be API changes
        • Intraprocess efficiency/performance improvements
        • C++ API for composable nodes
        • Launch support for loadable components
        • New generation of Launch API
        • Read Only Parameters
        • XML frontend for Launch(might fall back)
        • Range support for Parameters, in process by at risk for feature freeze deadline.
        • Fixed rclpy memory leak, expect backport
        • rosbridge_suite port is ongoing
        • Infrastructure and CI jobs improvements
        • Support for generating RPM spec files expected
      • LG Electronics
        • In Progress: OpenEmbedded Platform support
        • Merged PRs to rosdep and rospkg that were needed for OpenEmbedded
        • Submitted PR for superflore upstream, under review
        • Have reference HW demo on Raspberry Pi 3 with set of Crystal packages using superflore automatically generated recipes
        • Working on extended Crystal package support (currently 275 packages)
        • Will build Dashing packages now that Dashing distribution index has been released
      • Microsoft
        • Working with Open Robotics on ROS 2 release logistics for the Windows side, including how to host chocolatey packages, ROS bridge and vcpkg integration.
        • Stood up a colcon build on Azure DevOps
        • We’re going to add an installer to rosdeps so that when a chocolatey package is not available, rosdep will consult vcpkg to see if a recipe is available and offer to download, build and install.
        • Working on a vcpkg feature to export chocolatey packages
    • Working groups:
      • [5 min] [Matt H] Navigation
        • Added Obstacle Layer - still doing some tuning
        • Converting nodes to lifecycle nodes, for improved bring up / shutdown reliability - in code review
        • Converting to using Actions across the stack
        • Adding recovery behaviors via behavior tree
        • Adding parallel planning
        • Moving to using BehaviorTree_CPP v3.0
        • Support integration of system test into ROS2 build farm? (need to discuss)
      • [5 min] [Rutvik] Security
        • Threat Model is merged, Turtlebot and MARA models
        • Setting a 2 week cadence for ongoing meetings
      • [5 min] [Dejan] Real-time and safety
      • [5 min] [Karsten] Embedded
        • No updates as for now. Preliminary work has to be done before the next meeting, presumingly in May.
      • [5 min] [Víctor] Motion planning WG Suggestion
        • Discussion of plans and planned actions, input from TSC
    • Late new business:
      • [Rutvik] armhf (32-bit ARM) support
        • Seeing demand for armhf
        • Looking to improve the toolchain
        • ARM interested in supporting this
        • Also of interest to Apex to avoid requiring hardware, all platforms are arm based
        • Target Tier 3 to start, want to push it up to at least Tier 2
      • [Brian Shin] Definition and requirements for new platform support
        • Rep-2000: http://www.ros.org/reps/rep-2000.html
        • OpenEmbedded as Tier 3 platform
          • Would like more definitions for what the requirements are for the tiers.
          • A process for being selected/supported would be valuable
      • [Karsten] State of real time within ROS 2
        • State of executor
          • How can we approach proposing changes to this?
            • Design Doc or PR proposals are best or go through working doc
        • ROS 2 and Real-time discourse post
      • New TSC member inquiries
        • Looking for ways to engage, how can they get involved? What can we send them? They’re looking for chunks of work to pick up to demonstrate interest.

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by @gerkey gerkey on April 19, 2019 11:04 PM

New Packages for Lunar 2019-04-19

@clalancette wrote:

We’re happy to announce the next update for ROS Lunar. We have 43 new packages as well as 34 updated packages.

As a reminder, approximately one month from now Lunar will go out of support. We’ll do at least one more sync before then, but if you are currently using Lunar it is a good time to start transitioning to Melodic.

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

Full details are below.

Package Updates for lunar

Added Packages [43]:

Updated Packages [34]:

Removed Packages [0]:

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

  • Alexander W. Winkler
  • Austin Hendrix
  • AutonomouStuff Software Development Team
  • Carnegie Robotics
  • Chad Rockey
  • Davide Faconti
  • Devon Ash
  • Fabien Spindler
  • Luiz Ricardo Douat
  • Maintained by Carnegie Robotics LLC
  • Musa Morena Marcusso Manhaes
  • Philipp Schillinger
  • ROS Orphaned Package Maintainers
  • Vladimir Ermakov
  • William Woodall

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by @clalancette Chris on April 19, 2019 12:38 PM

April 18, 2019
What Took Place at the ROS-I Consortium Americas 2019 Annual Meeting

After the Automate 2019 Exhibition and Conference the ROS-Industrial Consortium Americas held their 2019 Annual Meeting in Chicago, Illinois, on April 12. This is the primary face-to-face opportunity for the Americas membership, whom have expressed interest in leveraging ROS and additional open-source solutions, in industrial and manufacturing applications. This event has proven to be a great opportunity to engage with end-users, OEMs, solution providers and researchers on open source, interoperable, agile software capabilities.

As has been the custom when held in Chicago following Automate, the meeting was confined to a single day. This led to a packed agenda with attendance at a record for the co-located variant of the Americas Annual Meeting. As was stated in this year’s program, “As evidenced by the activity and the sheer number of entrants into the order fulfillment/warehouse and logistics space, this area has proven that ROS-based solutions can survive and even thrive in manufacturing environments where uptime and reliability of performance are critical.” The day that followed demonstrated that there is both interesting and tangible activity as well as plenty of opportunity to continue to innovate while leveraging open source to step-change how innovation in industrial automation takes place.

The day kicked off with strategic and technical updates from each ROS-Industrial region. The Americas Consortium reviewed their “roadmapping” effort with an emphasis on managing the transition from ROS to ROS2. Levi Armstrong shared technical developments, including a summary of Industrial YAK, a TSDF-based reconstruction package, and an approach to enable the ability for ROS-I to support ROS and ROS2 applications moving forward.

Full House for 2019 ROS-I Americas Annual Meeting

Full House for 2019 ROS-I Americas Annual Meeting

The EU Consortium was able to highlight evolutions for the progress of open source and ROS in industry. This followed with a ROSin program update for the Americas audience. Asia-Pacific discussed some of his team’s work around Dynamic Grasping and a Singapore-funded initiative “ROS-based National Healthcare Project” that will be open-source, expanding application of ROS in an IoT use case.

A follow-up roadmapping workshop was held, seeking to collect feedback on technical needs and gaps, programmatic gaps, what is working, and what application areas are the greatest needs. The intent is to gather feedback to continue to ensure a solid roadmap, both for the transition and/or incorporation of ROS2 and other open-source capabilities, and ensuring that FTP topics are aligned with the demands of the membership and Industrial community.

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This followed with an overview by Dr. John Wen of Rensselaer Polytechnic Institute on Robotic Assembly of Large Structures using Vision and Force Guidance. This work was a product of the ARM Institute’s Quick Start Technology Projects. The work shows the ability to realize millimeter assembly performance leveraging tools such as ABB’s External Guided Motion Interface along with visual servoing techniques.

Dr. Eugen Solowjow presented compelling work that sought to leverage Artificial Intelligence techniques to enable robot learning for path planning to perform assembly and placement tasks. This highlighted a gap in the ROS ecosystem relative to advanced AI frameworks and the inability of ROS to interoperate with these tools at this time.

We were then able to welcome keynote speaker Chris Morgan, chief innovation officer of Bastian Solutions, a Toyota Advanced Logistics company. He talked about how ROS enables a one-stop shop, if you will, to enable his team to innovate rapidly to come up with the next generation of warehouse automation technologies, including mobile robotics.

Ahead of the presentation portion for the afternoon, members presented and discussed Focused Technical Project (FTP) topics. This was followed by, Fred Proctor, National Institute of Standards and Technology (NIST), Group Leader of the Networked Control Systems Group sharing with the membership developments of techniques to assess robotic system performance relative to agility, and how there is a need to enable common language as robotics capabilities advance.

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Vincent Tam of Microsoft’s Windows 10 IoT team presented updates relative to Microsoft’s Kinect and the tools to enable rich application development within the Windows and Auzure ecosystems.

A panel session titled “Is ROS2 Ready for the Factory Floor?” featured Chris Lalancette of Open Robotics, Dave Coleman of PickNik and MoveIt!, Matthew Hansen of Intel, and Jerry Towler of Southwest Research Institute’s Unmanned Ground Systems Group. They discussed ROS2 experiences and some of the challenges related to its broader adoption. The discussion, moderated by SwRI and ROS-I Americas tech lead Levi Armstrong, covered university uptake of ROS2 versus ROS, why industry is pulling for ROS2 and techniques for managing this transition period, as well as guidance or tips for leveraging ROS2 when starting from scratch or if you have an existing ROS code base. The audience exhibited passion while engaging in a lively conversation that added additional context to publications or word of mouth that have framed the state of ROS2 at this point.

ROS2 Panel on Readiness for the Factory Floor

ROS2 Panel on Readiness for the Factory Floor

The afternoon session concluded with an introduction by Tormach CEO Daniel Rogge on their work seeking to create a ROS package for the MachineKit component HAL, the Hardware Abstraction Layer, and described what this enables. This was followed by an OEM partnership highlight that served as an example of how Yaskawa enables advanced applications by supporting up-and-coming companies with compelling new ideas; in this case, Path Robotics spoke to the membership about their vision to change how robotic arc welding is deployed for small and medium manufacturers.

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The day concluded with a presentation by Dr. Mitch Pryor and the work his team at the University of Texas at Austin Nuclear Robotics Group is doing to reduce operator burden and enabling richer leverage of advanced robotics that in certain cases lead to improved worker satisfaction and overall performance improvements compared to legacy tele operation applications.

It was a full day, after a full week, but we were thankful to the attendees, and all the members who came in person and engaged via the online streaming of the event. For members, all the presentations and the recordings of the presentations and panel will be made available via the member portal. Moving forward, the ROS-Industrial Consortia globally will seek to bring back the ROS-Industrial Community meeting, a quarterly update that was a more meaningful means to maintain engagement throughout the year across the regional Consortia. The hope here is to optimize programs such as ROSin, and to provide two-way communication channels for these projects/funding sources beyond their core audience, and to enable a checkpoint to ensure that strategically ROS-Industrial as a project is synchronized and each dollar that is put towards ROS-Industrial is most effectively utilized.

Global ROS-I Team from Left to Right - Levi Armstrong (SwRI), Erik Unemyr (ROS-I AP), Chris Bang (SwRI), Thilo Zimmerman (Fraunhofer IPA), Paul Evans (SwRI), Mirko Bordignon (Fraunhofer IPA), and Matt Robinson (SwRI)

Global ROS-I Team from Left to Right - Levi Armstrong (SwRI), Erik Unemyr (ROS-I AP), Chris Bang (SwRI), Thilo Zimmerman (Fraunhofer IPA), Paul Evans (SwRI), Mirko Bordignon (Fraunhofer IPA), and Matt Robinson (SwRI)

We look forward to continued action that stems from this event, and all the events we have in the coming months. ROS-Industrial Asia-Pacific will have its annual workshop June 18-20 in Singapore, and World ROS-I Day, our annual “house cleaning” on the code itself, is tentatively schedule for the last week in June.

Thanks to all those that engaged with the ROS-Industrial Global team the entire week, including the Annual Meeting. Without your support, open-source for industry would just be a tag line, but as evidenced by the progress to date, it is a reality.

by Matthew Robinson on April 18, 2019 05:52 PM

April 17, 2019
ROS 2 E Name Brainstorming

@mjcarroll wrote:

ROS 2 Dashing Diademata will be released soon. That means it’s time to start brainstorming the following ROS 2 release: E Turtle.

Existing ROS 2 names and codenames:

  • Ardent Apalone - ardent
  • Bouncy Bolson - bouncy
  • Crystal Clemmys - crystal
  • Dashing Diademata - dashing

Existing ROS 1 names and codenames:

  • Boxturtle - boxturtle
  • C Turtle - cturtle
  • Diamondback - diamondback
  • Electric Emys - electric
  • Fuerte - fuerte
  • Groovy Galapagos - groovy
  • Hydro Medusa - hydro
  • Indigo Igloo - indigo
  • Jade Turtle - jade
  • Kinetic Kame - kinetic
  • Lunar Loggerhead - lunar
  • Melodic Morenia - melodic
  • Noetic Ninjemys - noetic

Here are some links to turtle species to get us started.
http://www.chelonia.org/byspecies.htm#E
https://en.wikipedia.org/wiki/Category:Turtle_genera
https://en.wikipedia.org/wiki/Category:Prehistoric_turtle_genera

Please share your suggestions and comments.

There are no rules to this process so be creative.

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Participants: 40

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by @mjcarroll Michael Carroll on April 17, 2019 10:28 PM

Survey on Pull Requests assessment practice

@Alami wrote:

Dear ROS community,

We’re conducting a survey on pull request (PR) assessment practices in open source communities (including ROS). The aim of the survey is to understand how PRs are evaluated. What are the principles used in judging PRs? What is the contributor’s and maintainer’s attitude during the evaluation? etc.

We’re targeting various open source communities in this survey. It would be interesting to understand how ROS PR assessment works compared to other communities.

I’ll share the results as soon as they become available. Please, participate so we can have a significant number of participants. Survey link.

Many thanks
Adam

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Participants: 1

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by @Alami Adam Alami on April 17, 2019 06:07 AM


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