September 04, 2015
ROS Control talk at the First MoveIt! Community Meeting

PAL Robotics’ engineer, Dr. Adolfo Rodriguez Tsouroukdissian, has given a talk about ROS Control at the first MoveIt! Community Meeting. If you missed the appointment, you’re still on time: watch it here! – You can also have a look at the presentation slides entire meeting.

MoveIt! is an open-source software for robotic mobile manipulation that has been used on over 65 robots, including PAL Robotics’ humanoids REEM-C and REEM.

Adolfo Rodriguez will be presenting along with Jackie Kay from OSRF a talk on real-time performance in ROS 2 at the upcoming ROSCon 2015. Remember that ROSCon will take place in Hamburg, Germany, Oct. 3-4rd, right after IROS.

The post ROS Control talk at the First MoveIt! Community Meeting appeared first on PAL Robotics Blog.

by Judith Viladomat on September 04, 2015 10:37 AM

September 03, 2015
Report on the First MoveIt! Community Meeting
Thank you for coming to the MoveIt! Community Meeting and thanks to the presenters for making this a huge success. There were more than 240 people registered and more than 150 who attended from all over the world. I apologize to those running Ubuntu who had issues joining us (using Chrome was the suggested solution for the future).

MoveIt! now has a twitter account for updates: @moveitrobot

Meeting Video
The slides from the meeting are posted here in two parts.

Slides: PART 1

Slides: PART 2

September 03, 2015 11:35 PM

September 02, 2015
Liatris: Determine object pose & identity using a touch screen and RFID reader

From Mark Silliman

Liatris is a new open source project built with ROS.  Liatris determines any object's identity and precise pose using a touch screen and RFID reader.

The robot in the video is programmed to identify and grasp any object placed on the touch screen, regardless of the object's shape, size or positioning. Liatris can immediately identify the object and determine its orientation using capacitive touch and RFID technology. It discerns the object utilizing the CAD model downloaded from the Liatris API and uses instructions provided in the API to physically grasp the object. The instructions define the optimal way in which the robot should grasp a specific object while avoiding collisions with other objects (thanks to MoveIt.)

The result is an accurate 3D perception and mobile manipulation solution.

Learn more at

by Tully Foote on September 02, 2015 10:15 PM

ROS 2 alpha1 release: Anchor
We're happy to announce the release of ROS 2 alpha1, code-named Anchor!

Installation instructions and tutorials designed to exercise new
features in ROS 2 are in the wiki:

To get an idea of what's in (and what's not in) this release, be sure
to read the overview page:

From that page, an important caveat:
As the "alpha" qualifier suggests, this release of ROS 2 is far from
complete. You should not expect to switch from ROS 1 to ROS 2, nor
should you expect to build a new robot control system with ROS 2.
Rather, you should expect to try out some demos, explore the code, and
perhaps write your own demos.

We invite you to try out the new software, give feedback, report bugs,
and suggest features:

- your ROS 2 team

by Tully Foote on September 02, 2015 06:36 PM

Navigation engineer at Locus Robotics in Boston, MA

From Brad Powers

Locus Robotics ( is looking for a talented software engineer/roboticist to help bring the next generation of warehousing robots to market. Locus is a Boston area stealth-mode startup working with partners in the warehousing market to build a product that is performant and flexible to meet the dynamic needs of our customers.

Our ideal candidate has significant experience with navigation and planning in a multi-robot context, and is familiar with ROS and the ROS navigation stack. Additionally, strong candidates will be comfortable with significant autonomy and self-organized. We're looking for candidates interested in full time employment or consulting work, local or remote. If interested, please send a resume (and if applicable, Github link, portfolio, etc.) to We look forward to hearing from you.

by Tully Foote on September 02, 2015 08:26 AM

September 01, 2015
Using libuvc ROS package on System76 Kudu laptop
libuvc_camera works as a universal camera ROS driver for UVC compliant cameras (webcams in particular). Using it with the integrated webcam on my laptop (Kudu Pro by System76), I added in `/etc/udev/rules.d/99-uvc.rules` this line:
SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="5986", ATTRS{idProduct}=="055c", MODE="0666"
Figuring out needed some tweaks as follows; mainly because I did not know the manufacturer name of the camera: 1. `lsusb` command result doesn't indicate the type of the device:

Bus 001 Device 002: ID 8087:8008 Intel Corp.
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 004: ID 5986:055c Acer, Inc
Turned out later that the Acer one was what I was looking for, who knows. 2. Hacky enough, I ran cheese. Make sure the camera image is displayed on its window, then go to "Preference" --> "WebCam" tabg --> Device. I found the manufacturer is acutally called BisonCam. 3. Hacker doesn't stop yet. Look into `dmesg` command's result. Since this is usually long, I saved it as a file. I found a few lines that include string `Bison`, in which I found the vendor and product id:
[    2.973758] uvcvideo: Found UVC 1.00 device BisonCam, NB Pro (5986:055c)

After this, I wrote `/etc/udev/rules.d/99-uvc.rules` as above and also made a launch file for libuvc_camera:
<node ns="camera" pkg="libuvc_camera" type="camera_node" name="cam_kudu1">
<param name="vendor" value="0x5986"/> <!-- check lsusb -->
<param name="product" value="0x055c"/> <!-- check lsusb -->
<param name="width" value="640"/>
<param name="height" value="480"/>
<param name="video_mode" value="yuyv"/>
<param name="frame_rate" value="30"/>
<param name="camera_info_url" value="file:///tmp/cam.yaml"/>
<param name="auto_exposure" value="3"/>

by Isaac Saito ( on September 01, 2015 01:41 AM

Scan-N-Plan for Robotic Blending Milestone 3

A team of developers from Southwest Research Institute, The Boeing Company, Caterpillar, Wolf Robotics, and TU Delft have recently completed the third milestone of the Scan-N-Plan for Robotic Blending Focused Technical Project. Sponsors for this milestone include The Boeing Company and Caterpillar, Inc.

Scan-N-Plan technologies are a suite of open-source software tools that enables automated process-planning and execution based on 3-D scan data. The Robotic Blending project is focused on bringing these Scan-N-Plan capabilities to the world of surface finishing.

In many factories today, a part fresh from a CNC machine will require a manual post-processing step to ensure that the surface is sufficiently smooth to eliminate fatigue crack growth factors and/or to prepare the surface for painting. The physical labor of smoothing the surface is frequently accomplished using hand-held power tools and these actions, over time, can cause repetitive stress injuries. Robotic automation is a desirable alternative, but programming for each unique part's geometry and surface defects is not cost effective.

The goal of the Robotic Blending project is to allow an operator to place a part requiring surface processing into a robot work cell and have the robot automatically generate a plan and execute it. Using a simple 4-button software interface, the operator follows a step-by-step procedure to scan, preview, blend, and inspect a part in only a few minutes (see the video). The operator's only input to the system is to instruct the robot where to look for parts, what surfaces should be processed, and to give approval to the generated process plans. An administrator menu is also provided to adjust process parameters (e.g. feeds, speeds, tool geometry, QA tolerances, etc.).

The current system can process flat surfaces at arbitrary, but reachable, position and orientation. Process path generation and robot trajectory planning is very fast: roughly one second per surface. Milestone 3 saw the inclusion of a vastly improved user interface (including the operator interface mentioned previously), an improved laser scanner driver, adjustable process parameters, new support for ABB robots, and robot simulations/previews. In addition, demonstrations of the Milestone 3 software were independently and successfully performed at Boeing and Caterpillar facilities (on different robots) the week of July 27, 2015.

The next milestone will expand the capabilities of the system to deal with more complex/non-flat parts, to perfect the blending process, and to "close the loop" between the QA scoring and process planning by reworking the part until it objectively meets a given quality metric.

Special thanks to the following software developers who contributed to this milestone:

  • Adam Clark - Boeing
  • Chris Sketch - Caterpillar
  • Gijs van der Hoorn - TU Delft
  • Jonathan Meyer - SwRI
  • Matthew West - Caterpillar
  • Zach Bennett - Wolf Robotics

by Jonathan Meyer on September 01, 2015 01:32 AM

Robotics researcher position at Bosch Palo Alto, California
From Lorenzo Riano via ros-users@

The personal robotics research team at Bosch, Palo Alto is looking for an outstanding candidate with expertise in mobile robotics, navigation, planning, manipulation or control. The ideal candidate will have a Ph.D in robotics or related field, and previous working experience developing large scale software solutions for mobile robotics.
Duties and Tasks:
Perform research, develop, implement and evaluate algorithms for collaborative robotics. The developed algorithms will enable humans and robots to safely share and work in the same environment. The proposed solutions must be adaptable to a variety of platforms, sensors and environments. The candidate will work in an interdisciplinary team on an exciting project with a potentially large impact worldwide.
Skills/Job Requirements:
  • Excellent knowledge and proven expertise in developing solution for mobile robots.
  • Excellent knowledge in one or more of the following fields: navigation, motion planning, manipulation or grasping.
  • Working knowledge of optimal control methods and optimization methods.
  • Excellent C++ programming expertise required, and proven expertise working with large code bases.
  • Excellent knowledge of ROS is required.
  • Working experience with at least one mobile robotic platform is required, more than one is a plus.
  • Python and Java knowledge is a plus.
  • Proven system integration and software architecture skills.
  • Knowledge of Linux, and development on Linux systems preferred.
  • The ability to develop, understand and implement complex algorithms efficiently and correctly.
  • Experience with modern software engineering tools.
  • Experience working independently in a large software setting.
  • Excellent communication skills and demonstrate a proven ability to multitask and deliver on challenging software development tasks.
Required Application Materials:
1. Cover letter
2. Resume/CV
3. Two references and/or two letters of recommendation
4. A statement of past experiences and how they apply to the position posted
All items are mandatory. Your application will not be complete and won't be processed unless you submit all five items.
Availability: ASAP
Location: Palo Alto, CA, USA

by Tully Foote on September 01, 2015 12:38 AM

August 28, 2015
Announcing OrSens Outdoor 3D Sensor working with ROS
From Konstantin Zhukov via ros-users@

I'd like to announce OrSens - portable stereo-camera calculating depthmap onboard, so you can get depth and RGB streams via USB at 30FPS.

Here is the ROS wiki page for more info:

Here are the repositories:

Here's the website:

Our team is working on deep integration with ROS and on providing some ready-to-use computer vision solutions.
We ourselves use the camera in our device for blind people, with ROS-powered software.

We hope that our work could be useful for the community.

by Tully Foote on August 28, 2015 10:16 PM

Intelligrated / Robotics Software Engineer job opening

From Matt Lamping of Intelligrated

There is quite a lot of interesting development activity with robotics in warehousing and logistics field.  Intelligrated is a premier leader in this space and is looking for Software Engineers with Robotics/expertise to support our expanding robotics research and development group.   If you are interested in pursuing an exciting career that combines computer vision, robotics, software engineering, and automation, then this R&D is the opportunity for you!


Intelligrated offers a rewarding career path, comfortable work environment, competitive compensation, and excellent benefits.

You will collaborate with the members of the robotics development team on the integration of motion, vision and perception based robotics solutions. This position is located in St. Louis, Mo and is an excellent opportunity for a motivated and creative software engineer to be a part of multiple exciting robotic based development projects that include integration of robotic motion, vision and simulation to be used in material handling systems.



Develop real time motion planning algorithms and vision based perception systems for use in robotic software solutions for material handling systems

Develop new functionalities as well as maintain the current code

Follow rigorous design control methodology and write concise requirements specifications, architecture specifications, and design description, verification plans, and test cases.

Developing software applications to work with the simulations to emulate actual production rates to prove system functionality

Work concurrently with robotic design engineers, controls engineers and other software engineers as designs are being developed and finalized Performs unit testing of software and assists in the verification and validation process.

Manages schedules, meet and adhere to development goals.

Provides planning and status information to project manager.


2-3 years of experience in software development in a real-time operating system environment in C/C++ preferred. Will consider entry level candidates based on educational background Practical and/or theoretical knowledge of any of the control of multi degree of freedom robots, Kinematic and Dynamics of robotic manipulators, trajectory generation and path planning, or real-time operating systems.


Must have a strong working knowledge of programming and design relating to computer vision algorithms and machine learning.

Experience with ROS, QNX, Ubuntu, Multi-threaded and multi-process programming desired Experience with TCP/IP networking desired Experience developing test procedures and testing modules desired Excellent communication and documentation skills.


Experience industrial robotics or material handling (logistics) industry a plus.

Master's or PhD level in electrical engineering, computer science, or related field.


EEO Employer F/M/Disabled/Vets

Intelligrated(r) (<>) is a leading North American-based, single-source provider of intelligent automated material handling solutions that drive distribution and fulfillment productivity for retailers, manufacturers and logistics providers around the world. Through a broad portfolio of automation equipment, software, service and support, Intelligrated solutions optimize processes, increase efficiency and give businesses a competitive edge.

Intelligrated designs, manufactures, integrates and installs complete material handling automation solutions including conveyor systems, sortation systems, palletizers, robotics and order picking technologies - all managed by advanced machine controls and software. Solutions include industry-leading Intelligrated-manufactured Alvey(r), RTS(tm) and IntelliSort(r) brand equipment and Knighted(r) warehouse management (WMS), warehouse control (WCS) and labor management software.

Every project is backed by Intelligrated's 24X7 multilingual technical support and access to lifecycle service through a network of national, regional and local service centers. From concept to integration to lifecycle support, Intelligrated automation delivers distribution and fulfillment success.

by Tully Foote on August 28, 2015 10:14 PM

August 27, 2015
Software engineer at Yujinrobot Seoul, Korea
From HyungRyul Kim via ros-users@

Yujin Robot Co,.Ltd is looking for talented 1) framework developer and 2) frontend application developer to build next generation of service robotics system!

Yujin Robot is one of leading service robotics company always exploring the future of service robotics in real life like iClebo, cleaning robot, and GoCart, meal transportation system.

Also check out what we have done from these videos!

You will be given freedom to do things your own way, however this will require you to be highly self-organised while still being able to ride with the team. This scope will also give you the opportunity to influence and expand your role depending on the operations' success.

Software Framework Developer

the software framework developer will focus on design and development of core software framework that manages collaboration of multiple robots and IOT platforms

* Key Roles & Responsibilities
- Software framework for multi robot operation development
- Integration with other platforms like IOT

* Requirements

- Master's degree in Robotics, Engineering, Computer Science Engineering, Computer Science or a related field - or - Equivalent years of experience
- Proven software development skills
  - Proficiency in C/C++ or Python
  - Code development under linux
  - Experience with version control systems
- Good writing/reading/speaking english

* Desirables
- Comfortable using Git with GitHub/Bitbucket
- Programming skills across multiple languages
- Experience managing team software or a large software project
- Experience in designing components of a large software project
- Experience with ROS
- Experience in open source

Frontend Application Developer

* Key Roles & Responsibilities
- Development of web introspection application for multi robot framework operation and single robot control
- Development of user-side application for robotics service

* Requirements
- Bachelor's degree in Robotics, Computer Science or a related field - or -Equivalent years of experience
- Web application development skill - javascript, CSS, HTML5, nodejs

* Desirables
- Comfortable using Git with GitHub/Bitbucket
- Programming skills across multiple languages
- Experience in open source development
- Experience in Android and Qt development
- Knowledge of Web backend/Database/Frontend development

To apply

Send all documents to Note that technical research personnel(?? ?? ??) position is also available.

- Tell us why you are the right one for the job (i.e. cover letter or personal statement)
- Your Resume
- code examples (link to online repositories preferred)

You can also check our job posting. (Link)

by Tully Foote on August 27, 2015 05:30 PM

August 26, 2015
First MoveIt! Community Meeting: Sept. 3, 2015 at 8 AM PST (Online)
The first MoveIt! Community Meeting is happening online on Sept. 3 at 8 AM PST. Come see how the community is using MoveIt!.

Sept. 3, 2015 at 8 AM PST

Online (Register here:

  • 8:00-8:10 - The State of MoveIt! - Sachin Chitta (Stealth Startup)
  • 8:10-8:20 - OMPL - Mark Moll, Lydia Kavraki (Rice University)
  • 8:20-8:30 - ROS-Control - Adolfo Rodríguez Tsouroukdissian (PAL Robotics)
  • 8:30-8:40 - Updates to STOMP - Jorge Nicho (SwRI)
  • 8:40-8:50 - MoveIt! based implementation of an I-AUV - Dina Youakim (University of Girona)
  • 8:50-9:00 - Team VIGIR at the DRC - Stefan Kohlbrecher (Technische Universität Darmstadt)
  • 9:00-9:10 - ROS 2.0 and Manipulation - Jackie Kay (OSRF)
  • 9:10-9:20 - Discussion

August 26, 2015 05:37 PM

August 25, 2015
Official Docker Hub repo for ROS and Gazebo!
From Ruffin White via ros-users@

Hello everyone,

I'm happy to announce that ROS now has an official Docker Hub repository for ROS images [1].

You may remember earlier this year I asked the ROS community if there was any interest in starting such project [2]. Well, a few months and an OSRF internship later, OP is here to delver!

The official repository has been up for some time now, and it seems word has already gotten around as the project currently has +1000 downloads (and I know that wasn't just me), but I waited on announcing this until I had a bit of documentation and tutorials to go with it. So I'd also like to point out the Docker section that has been added to the ROS Wiki [3].

Another thing to add is that I have done the same for the Gazebo community as well, so if you'd like to start building your cloud based simulation clusters or quickly play with the latest version of Gazebo, v6.0, regardless of the dependencies you may not have installed on your workstation, you can download the official Docker Hub image for Gazebo [4].

The available ROS tags include supported distros, both Jade and Indigo, along with a hierarchy tags based off the most common meta-package dependencies:
  • ros-core: barebone ROS install
  • ros-base: basic tools and libraries (also tagged with distro name with LTS version as `latest`)
  • robot: basic install for robots
  • perception: basic install for perception tasks 
The rest of the common meta-packages such as desktop and desktop-full are hosted on automatic build repos under OSRF's Docker Hub oginsanal profile [5]. These meta-packages include graphical dependencies and hook a host of other large packages such as X11, X server, etc. So in the interest of keep the official images lean and secure, the desktop packages and perhaps more will just be hosted with OSRF's profile.

And as another plug for ROSCon 2015 [6], I'll also be giving a short presentation on this topic:
ROS + Docker: Enabling Repeatable, Reproducible, and Deployable robotic software via Linux Containers. So if you'd like to meet up and talk about shipping software containers in robots, I'll see you there.

If you have any technical questions feel free to ask on with the tag "Docker", give me a ping @ruffsl, and feel free to help me flesh out the wiki docs!

Special thanks to OSRF for making this possible,

by Tully Foote on August 25, 2015 08:54 PM

Apply for Positions at Modbot Inc (SF based Modular Robotics Startup)

Modbot is Hiring

Hi ROS Users,

My name is Daniel, Co-founder of Modbot IncModbot is hiring across multiple disciplines inclusive of experienced C/C++ engineers with ROS experience (and Gazebo). Please apply or forward on to any friends with backgrounds below:

  • Mechanical Engineering
  • Electrical/Power Systems Engineering
  • Embedded System Engineering
  • Electronics Engineer
  • PCB Designer
  • iOS/Android Software Programmer
  • ROS (Robot Operating System) Programmer
  • Web Application Software Engineer
  • FEA/Simulation Engineer
  • Industrial Designer
  • Project Manager
  • Community Manager
  • Business Development Manager
  • 3D Designer
  • Sales Manager

We are growing rapidly and looking for experienced engineers to apply. We are an exciting fully funded startup company based at the incredible new Pier 9 facility in San Francisco. There is no time or opportunity better than now to join a fast paced exciting and challenging company such as Modbot. Be a critical part of the whole product life cycle for our upcoming public launch. See here for further details:

About Modbot

Modbot is the ultimate robot building block placed into the hands of everyday inventors. Inspired hobbyist, academics, students and industry professionals can implement their creative technology projects with our innovative modular robotics platform. Using our integrated joints, links and development platform, new ideas can be fashioned faster, simpler and more creatively.

Modbot will provide high quality low cost automation solutions to the industrial sector that enable manufacturers to setup complete automated production lines on the Modbot platform. The platform is simple to setup, easy to configure, easy to program and highly extensible.

by Tully Foote on August 25, 2015 01:24 AM

August 24, 2015
Report from first ROS Summer School in China

The 1st ROS Summer School in China was held on 23-26 July 2015 at Shanghai. It attracted over 200 participants. This event was organized by Intelligent Robot Motion and Vision Laboratory (directed by Dr. ZHANG Xinyu, in East China Normal University and co-organized by a robotic startup company AIC-Robotics (


This summer school arranged 8 invited talks delivered by the industrial companies and 17 lectures given by ROS experts. 166 master and Ph.D. students from 48 universities and research institutes, and more than 50 developers and ROS users from the industrial participate this four-day event.

The organizers would like to give special thanks to the following lecturers: Dr. CHEN Ling (Shanghai University, Shanghai) Dr. PAN Jia (The University of Hong Kong) Mr. SHE Yuanbo (AICRobotics Team, Shenzhen) Mr. LIAO Xinyi (Northwestern Polytechnical University, Xi'an) Mr. LI Jin (KODA, Shanghai) Mr. FU Guohe (East China Normal University, Shanghai)

and the following enterprise representatives: Mr. WANG Xinjun (Shanghai Gaitech Scientific Instruments Co. Ltd.) Mr. GUO Gaihua (INMOTION, Shenzhen) Mr. LU Jing (Omakr Robotics, Suzhou) Dr. ZHENG Yousheng (AVIC JiangXi Hongdu Aviation Industry Group, Nanchang) Mr. LI Zheng (Hi-Robot, Shanghai) Mr. ZHANG Hao (DORABOT, Shenzhen) Mr. XIAN Linbo (WXYZTech, Wu Han) Mrs. WANG Wei (LEEMAN China, Beijing)

Please check out the official website for the photos

by Tully Foote on August 24, 2015 05:35 PM

August 21, 2015
Save the date for the first MoveIt! Community Meeting: Sept. 3, 2015 (Online)

From Sachin Chitta via ros-users@

Save the date for the first MoveIt! Community Meeting happening online on Sept. 3 at 8 AM PST. Confirmed speakers include:

  • The State of MoveIt! - Sachin Chitta
  • OMPL - Mark Moll, Lydia Kavraki (Rice University)
  • ROS-Control - Adolfo Rodríguez Tsouroukdissian (PAL Robotics)
  • ROS-Industrial - Shaun Edwards (SwRI)
  • Team VIGIR at the DRC - Stefan Kohlbrecher (Technische Universität Darmstadt)
  • MoveIt! based Implementation of an I-AUV - Dina Youakim, Pere Ridao, and Narcis Plaomeras (University of Girona)

If you have used MoveIt! on an exciting project or robot and would like to present your work to the community, please don't hesitate to email me at by August 11, 2015.

A final agenda and details on how to take part in the meeting will be sent out next week.

by Tully Foote on August 21, 2015 06:21 PM

roslint update
From Mike Purvis via ros-users@

roslint has been updated to the newest versions of its underlying linters, pep8 and cpplint, thanks to some work by Alex Henning. Version 0.10.0 has been released into Indigo and Jade and will be available in shadow shortly. Relevant PRs:

If you are the maintainer of one of these roslint-using packages, be aware that this change may result in new lint warnings on your package. Especially if you use the roslint_add_test macro to run the linter as part of a package's unit tests, you may want to grab roslint 0.10.0 from shadow so you can verify packages in advance of the next sync.

If you're not currently a roslint user, but develop (or maintain) ROS packages, consider integrating roslint. We use it on a bunch of our internal software at Clearpath-- having stuff linted upfront is great for making code review about the real design and implementation issues, and not about style.

by Tully Foote on August 21, 2015 06:17 PM

August 17, 2015
CITEC MORe | Stipends for Open Source & Open Data Software

From Florian Lier via ros-users@

please find the call for the first CITEC Month of Open Research below. We offer stipends to (PhD) students from all over the world.

We currently offer two ROS-enabled projects:

The CITEC Month of Open Research (MORe) is an international program that offers students stipends to contribute to open source or open data projects related to the research areas of cognitive interaction technology. MORe is organized by the Excellence Cluster Cognitive Interaction Technology (CITEC) of Bielefeld University, Germany. We fund students from abroad who would like to participate in exciting projects that are proposed by experienced mentors of CITEC research groups. Participants can gain a maximum paycheck of 1.500 EUR. We accept applications of English speaking students from all over the world!

  • The application period started: July 27, 2015
  • Deadline for student applications: August 21, 2015
  • Notification of acceptance: August 28, 2015

Available projects:

Fore information, please visit: * *

Get involved!

Kind regards, The MORe organizing team

by Tully Foote on August 17, 2015 09:42 PM

August 14, 2015
Mechatronics Intern position at Auro Robotics - Making Autonomous Shuttles for in-campus travel
From Nalin Gupta via ros-users@

Autonomous driving team at Auro Robotics is looking for interns in hardware / embedded systems field for immediate joining. If you are looking for something having insanely awesome startup culture and have related robotics background, please do write to us directly at or call at +1-408-431-7342 (Nalin Gupta)

Auro is a Y Combinator startup developing driverless shuttles for in-campus travel (pics and video attached). Your mission (should you choose to accept!) would be to take charge of hardware and mechatronics of an autonomous vehicle being developed for pilots programs.

  • Has worked on robotics project (related to hardware / embedded systems) before
  • Good understanding of mechanical design, stability, various types of connectors, safe wiring etc.
  • Working knowledge of basic embedded systems (such as Arduino, Raspberry Pi etc.) and robotics systems
  • Knowledge of C/C++ and embedded programming

We are currently looking for candidates who can join immediately (within 1-2 weeks time frame).

About Us:
We make autonomous shuttles for in-campus travel (pics and video attached) for use at places such as university campuses, large industrial sites, Disneyland, resorts and airports. 

Auro is a Y Combinator S15 batch company, and were recently selected amongst 50 top innovations in a program organised by Stanford Business School and Lockheed Martin.

We focus on developing the autonomous driving software, while partner with vehicle manufacturers and use off-the-shelf sensors for the rest. We, though, sell the complete autonomous shuttle, as a single integrated product.

We are located in Sunnyvale, California. Accommodation and other amenities can be arranged. 

Website URL:

by Tully Foote on August 14, 2015 08:33 PM

ROS installation for OS X
From Mike Purvis via ros-users@

Greg Brill and I have been working on establishing a script that can more or less automatically set up a ROS desktop_full install on Mavericks and Yosemite; we'd be glad for a few brave souls to give it a try:

Some key ways in which this differs from the official instructions is that it:
  • uses brewed python instead of system python,
  • uses catkin_tools to build in parallel instead of catkin_make_isolated,
  • requires very minimal and well-documented sudo use, and
  • tries to automatically detect some problematic configurations and provide appropriate prompts/suggestions.
The desktop_full build itself is about 30 minutes; the remainder of the time is spent fetching and building dependencies (especially VTK and Gazebo 5). Total time on most systems should be < 1h.

Our intent is to set up some form of CI which can periodically re-run this setup on a vanilla machine, and thus keep it from regressing, however such a thing is still to come-- this overall procedure is long enough that it's not a good fit for Travis CI.

Bugs and pull requests welcome,

by Tully Foote on August 14, 2015 02:15 AM

August 12, 2015
Open Position at Google Project Tango - Software Engineer (Device Calibration)
From Vijay Pardeep via ros-users@

The Project Tango team at Google is hiring!  Please take a look at the job description below.  You can apply directly through the Google Job Portal, and feel free to contact me at if you have any questions about this role.

Thanks for your interest!
Vijay Pradeep


Position: Software Engineer, Device Calibration (Project Tango)
Location: Mountain View, CA, USA
Type: Full-Time

About Project Tango:
The goal of Project Tango is to give a human-scale understanding of space and motion to mobile devices. This includes phones, tablets, and virtual reality headsets. Our team has been working with universities, research labs, and industrial partners spanning many countries around the world to build on the last decade of research in robotics and computer vision, concentrating that technology into a mobile device. A Project Tango-enabled device combines data from a fisheye camera, 3D depth sensor, and IMU (gyroscopes and accelerometers) to track its own position and orientation in the world, while also building a 3D representation of its surroundings. This all happens on-device in real-time.
See for more info about Project Tango.

About this Role:
With so many different sensors working together to produce a single cohesive estimate about the device and its surroundings, device calibration is critical to Project Tango's success. As a Software Engineer on Project Tango's calibration team, you will help support all aspects of device calibration. This includes developing algorithms for calibrating devices, designing automated workflows for calibrating devices on a high-throughput production line, and analyzing existing datasets and devices to quantify the effects of calibration on device performance.

- Be a technical contributor to an interactive C/C++ system.
- Participate in software architecture and design meetings.
- Work with an existing engineering team using an Agile-like process.

Minimum qualifications:
- BA/BS degree in Computer Science or equivalent practical experience.
- Programming experience in C or C++.

Preferred qualifications:
- MS or PhD degree in a related field.
- Expertise in any of the following areas:
    - Computer Vision
    - Camera/Lens Calibration
    - 3D Vision and VSLAM
    - 2D image processing
    - IMU sensor processing
    - non-linear optimization/bundle adjustment algorithms
    - Strong Python programming skills.

How to Apply:
Please apply via the Google Job Portal here:!t=jo&jid=111045001&

(A full list of Google Project Tango Job openings is available here)

by Tully Foote on August 12, 2015 09:46 PM

Manning Publications - Looking for potential authors for Robot Operating System (ROS) book
From Matko Hrvatin via ros-users@

Manning (the publisher) is currently looking for potential authors for Robot Operating System (ROS) book. We already contacted a couple of ROS contributors and wanted to reach out to the ROS community as well, as proposed by Vincent Rabaud.

If interested please send an email to

by Tully Foote on August 12, 2015 09:28 PM

August 11, 2015
3D Automatic Path Planning for Surface Machining

Most robot controllers cannot process large and complex data such as point clouds or meshes. Because of this limitation, it is not possible to automatically generate complex paths on surfaces using a robot controller. The Institut Maupertuis decided to create a ROS library that automatically plans complex paths on 3D surfaces. The aim of the Bezier project is to provide a simple, yet generic, library for this purpose. It heavily relies on the Point Cloud Library (PCL) and VTK to generate robot poses. The capability to generate variable height passes (instead of fixed height planar passes) on complex surfaces is key. At the moment the library is oriented towards milling applications. However we expect it can be utilized in other processes as well.

The planning method requires only input meshes (raw, CAD), tool parameters (height of pass, width) to generate a full 3D robot trajectory. The project was initiated in March 2015 and a first version was released publicly in July; the Institut Maupertuis demoed an automatic machining application on polystyrene using the Bezier library:

The library is in heavy development and every contribution and/or bug report is welcome. For more information about this project please visit the Bezier repository. To understand how Bezier works, please visit the documentation.

by Shaun Edwards on August 11, 2015 05:01 PM

August 10, 2015
New Tool: roscompile - Catkin Metadata Helper
From David Lu! via ros-users@

I have a confession to make. I'm not very good at Catkin. One reason
is because there is a lot more metadata to maintain. Unlike Ye Olde
Rosbuild, where you could add a dependency by adding a single tag in
the manifest, Catkin requires you add the build and run dependencies
to the package.xml, as well as add the dependencies in the
CMakeLists.txt in a couple places.

That's why I've developed a tool called roscompile, which I've found
invaluable for cleaning up my packages for release. It attempts to do
the hard work for you by 'compiling' the information that already
exists in the package.

 * Did you just add a dependency on a new package in your source code?
roscompile will read the source and add the appropriate tags to your
package.xml and CMakeLists.txt.

 * Create a new launch file that uses map_server? roscompile reads
launch files to add run_depends.

 * Add a new msg/srv/action/dynamic_reconfiguration/plugin? roscompile
generates the metadata for that too.

Check it out here:
(contains a full list of features and issues page)

Of course, the tool is far from perfect. It should not be used to
blindly make changes to critical repos. I welcome collaboration to
help cover people's use cases other than my own.

by Tully Foote on August 10, 2015 06:11 PM

August 07, 2015
Announcing PROFINET Support

Hardware interfaces are particularly important for any future integration of ROS-Industrial with production systems. With already existing EtherCat (maintained by Intermodalics) and CanOpen (maintainted by Fraunhofer IPA) networks, we are happy to announce support for PROFINET, as one of the most widely used fieldbuses in automation world.

PROFINET, an open automation standard and part of IEC 61158 is not only fully compatible with all the features of standard Ethernet, but it is also capable of real-time performance. It enables high-speed data exchange for the entire range of automation applications. PROFINET uses three communication services (Standard TCP/IP, Real Time, Isochronous Real Time), which can be used simultaneously, allowing transfers of both input/output data within submilisecond cycle times. To access all the features of PROFINET, use of specialized hardware is necessary. There are various PROFINET PCI cards on the market. We decided on the communication processor CP1616 from Siemens, since it provides not only Linux compatible drivers, but support for IO Controller/IO Device modes. This allows ROS-Industrial to work as both - a master or a slave on PROFINET network.

The goal of current development is to define a ROS-PROFINET abstraction layer and provide a specific implementation for the CP1616. The package release date is targeted for September.

Special thanks to the Google Summer of Code program for supporting this effort. Additional thanks to Siemens for technical support. Software development is ongoing and can be found in the ROS-Industrial Siemens experimental repo.

by Shaun Edwards on August 07, 2015 08:57 PM

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