September 17, 2018
ROSCon 2017: Determinism in ROS - or when things break /sometimes / and how to fix it... -- Ingo Lütkebohle (Bosch Corporate Research)

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

Ingo presented how determinism can effect a robotic system. The talk provides an overview of causes of non-determinism. Followed by specific examples of diagnosing determinism in a robotic system and the benefits of eliminating the sources of non-determinism.

Video

Abstract

ROS's foundational style, the asynchronous, loosely coupled compute graph, is great for re-use and distribution, but there's a catch: Nothing guarantees execution ordering. This means, the order in which callbacks and timers are executed can change even when inputs are the same. In many important cases, this leads to different results, and - subtly or not so subtly - changes the robot's behavior. As an example, in the common movebase node, we found reaction times changing between 50 and 200ms, while pure computation time was only 20ms. I will show why this happens, and how to address it, both in the movebase and in general.

Slides

View the slides here

by Tully Foote on September 17, 2018 07:51 AM

September 15, 2018
ROSCon 2017: ROS for Search and Rescue Robotics: Tools and Lessons learned during TRADR -- Martin Pecka (Czech Technical University in Prague) Sergio Caccamo (Kungliga Tekniska högskolan (KTH Stockholm))]Renaud Dube (ETH Zurich) Vladimír Kubelka (Czech T

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

Martin and Sergio present an overview of TRADR as well as ROS packages and tools they've developed in the course of the project. Most of the tools have been released as open source packages. And at the end they present some real world use cases where their robots were helpful.

Video

Abstract

Search and Rescue Robotics is an extremely challenging and broad area of robotics that has recently been experiencing enormous progress. In the last 3 years, the EU project TRADR investigated many aspects of the aforementioned field. With this talk, we would like to share with the ROS community the experience acquired in the development of our system based on advanced use of ROS, in testing and using various hardware, and in dealing with end-users that compose the human-robot teams during search and rescue missions.

Slides

View the slides here

by Tully Foote on September 15, 2018 12:27 AM

September 14, 2018
How should support (message types) for multi-exposure images be added to ROS?

@latida wrote:

Hi, I’ve been advised from members of the community to propose my idea here. We want to store and process multi-exposure images with ROS messages, how should we do that?

Here’s a link of a discussion which I started on ROS Q&A:
https://answers.ros.org/question/303127/custom-image-message-type/

Details of our company’s needs and proposals are described in short presentation:
https://drive.google.com/file/d/1BMG5UdLPoEzSPQMGagaQ-7007fTNxyCV/view?usp=sharing

Thank you for your consideration and for your help!

Posts: 1

Participants: 1

Read full topic

by @latida Ana Cej on September 14, 2018 04:59 PM

New Packages Lunar 2018-09-14

@marguedas wrote:

We’re happy to announce another batch of updates for Lunar. There are 67 new packages and 26 updated packages. Full details are below.

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

Package Updates for lunar

Added Packages [67]:

Updated Packages [26]:

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:

  • AutonomouStuff Software Development Team
  • AutonomouStuff Software Team
  • D. Hood
  • Dan Lazewatsky
  • Daniel Koch
  • Dave Coleman
  • David V. Lu!!
  • Dirk Thomas
  • Hitoshi Kamada
  • Jeremie Deray
  • Kei OKada
  • Kei Okada
  • Kevin Hallenbeck
  • Martin Günther
  • Michael Ferguson
  • Noda Shintaro
  • ROS Orphaned Package Maintainers
  • Ryohei Ueda
  • Sebastian Kasperski
  • Takuya Nakaoka
  • Yohei Kakiuchi
  • Yuki Furuta
  • Yuto Inagaki
  • k-okada

Posts: 1

Participants: 1

Read full topic

by @marguedas Mikael Arguedas on September 14, 2018 12:19 PM

Answer ROS Questions Like a Pirate Day 2K18

@DLu wrote:

Avast there!

This Wednesday is International Talk Like A Pirate Day which our community uses as an arbitrary day to put a focus on resolving issues on answers.ros.org, a.k.a. Answer ROS Questions Like a Pirate Day.

This is a group effort and can be participated in whether you’re a seasoned captain of a ROS stack or a
powder monkey who’s just dipping their proverbial toe into the sea water.

Here are some ways to help.

  • Hoist the upvote flag - You know what’s fun? Judging people. If there are answers that have been particularly useful to you, even on questions you didn’t ask, go upvote them. Are there burning questions that you also want to know the answer to? Vote for the question. Giving positive reinforcement to the people answering questions can’t hurt.
  • Answer Questions You Landlubber - Fairly straightforward. Look through the unanswered question treasure trove and find something interesting.
  • Dead Questions Tell No Tales - Go to your user profile and look through the questions you’ve asked. For the ones that are still open, is there an answer you can mark as correct? Or if the question is no longer relevant, consider closing the question altogether.
  • X Markdowns the Spot - If you’re an ol’ sea dog and have edit privileges, use your power for good and make sure that people have the correct formatting on their questions.

For more on the subject, check out this other thread: ROS Answers Needs Your Help

Posts: 2

Participants: 2

Read full topic

by @DLu David!! on September 14, 2018 01:43 AM

September 13, 2018
ROSCon JP 2018 will be held on tomorrow

@youtalk wrote:

As I mentioned on the ROSCon JP 2018 東京 (but in Japanese), ROSCon JP 2018 will be held on Sep. 14th at Tokyo, Japan. That’s tomorrow.

The conference is officially licensed by Open Robotics. It’s the first regional ROSCon in the world.
The CEO of Open Robotics Brian Gerkey and the co-founder of ROS-I APAC Consortium Nicholas Yeo are the keynote speakers.

The whole sessions are spoken in Japanese but the keynote speakers will speak in English.
The live stream of the conference will also be shown at YouTube. Don’t miss it if you cannot join directly. It starts from 9:00 JST.

I hope you will enjoy.


Yutaka Kondo
@youtalk

Posts: 1

Participants: 1

Read full topic

by @youtalk Yutaka Kondo on September 13, 2018 02:45 PM

Introducing the XEL Network : Modular H/W ecosystem over ROS2

@Kei wrote:

Hi!

I have brought new project news related to ROS2.
The name of this project is XEL Network

"XEL" is a word derived from the robot actuator “DYNAMIXEL” and uses the characteristics of DYNAMIXEL communication.

The main concept of this project is to standardize it so that robot hardware can be configured more easily using the features of DDS used in ROS2.

The GOALS of this project are as follows.

  • Generalization of Software Mechanism in Robot Development with Embedded Technology.
  • Complete open source hardware.
  • Simpler and easier robot development through the above goals.

The main FEATURES of this are as follows.

  • Support ROS2(DDS using microRTPS)
  • Plug And Play
  • Daisy chain connection

And our ROADMAP is as follows.

  • Support ROS2 (Publisher and subscriber are implemented)
  • Plug And Play (Implemented using the DYNAMIXEL protocol. Additional supplement needed.)
  • More sophisticated real-time performance.
  • Supports various message types.
  • Support GUI program (XEL Manager)
  • Support IDE likes Arduino for user customizing.
  • Support multi topics on one device. (Currently, only one topic per one is possible.)

What has been developed so far is only a simple function, and it requires a lot of function addition, stabilization and optimization.

But, as one of our goals is a complete open source hardware, we would like to develop it with anyone interested in this project. So I post this here that this project is there and it has progressed to this extent.

Here are the GitHub repositories that are currently open.

For more information on this project, please refer to the following wiki document.

We specially thanks to ROS2 developers and ROS community and eProsima developers.

Posts: 5

Participants: 4

Read full topic

by @Kei Kei on September 13, 2018 08:45 AM

Week 2 of ROS MOOC from TUDelft-edX available

@chcorbato wrote:

Continuing the discussion from New ROS MOOC from Delftx (TUDelft-edX) for beginner level ROS1 Users:

Dear all,

Week 2 of the “Hello (Real) World with ROS” has just started!!

You can still join this edition of the MOOC to learn the basics of ROS (few days left to complete week 1 assignments), or come back later anytime to follow it are your own pace (ungraded).

This week, we are learning the basics of the URDF language and the XACRO MACRO tool to model the geometry and physics of robotic systems, and apply it to model a real robotic factory!

On behalf of the Delftx ROS MOOC team,
Carlos Hernandez

Posts: 1

Participants: 1

Read full topic

by @chcorbato Carlos Hernandez Corbato on September 13, 2018 06:05 AM

Introducing the XEL Network : Modular H/W ecosystem over ROS2

@Kei wrote:

Hi!


I have brought new project news related to **ROS2**. The name of this project is **XEL Network**.

"XEL" is a word derived from the robot actuator “DYNAMIXEL” and uses the characteristics of DYNAMIXEL communication.

The main concept of this project is to standardize it so that robot hardware can be configured more easily using the features of DDS used in ROS2.

The GOALS of this project are as follows.

  • Generalization of Software Mechanism in Robot Development with Embedded Technology.
  • Complete open source hardware.
  • Simpler and easier robot development through the above goals.

The main FEATURES of this are as follows.

  • Support ROS2(DDS using microRTPS)
  • Plug And Play
  • Daisy chain connection

And our ROADMAP is as follows.

  • Support ROS2 (Publisher and subscriber are implemented)
  • Plug And Play (Implemented using the DYNAMIXEL protocol. Additional supplement needed.)
  • More sophisticated real-time performance.
  • Supports various message types.
  • Support GUI program (XEL Manager)
  • Support IDE likes Arduino for user customizing.
  • Support multi topics on one device. (Currently, only one topic per one is possible.)

What has been developed so far is only a simple function, and it requires a lot of function addition, stabilization and optimization.
But, as one of our goals is a complete open source hardware, we would like to develop it with anyone interested in this project. So I post this here that this project is there and it has progressed to this extent.

Here are the GitHub repositories that are currently open.

For more information on this project, please refer to the following wiki document.

We specially thanks to ROS2 developers and ROS community and eProsima developer julianbermudez, richiware, MiguelCompany, lemunozm.

Posts: 1

Participants: 1

Read full topic

by @Kei Kei on September 13, 2018 02:56 AM

September 12, 2018
Event: World MoveIt! Day - October 25th, 2018

@davetcoleman wrote:

We’re excited to announce that this year’s World MoveIt! Day will be Thursday, October 25, 2018! The event is a day long international hackathon to improve the MoveIt! code base, documentation, and community. We hope to close as many pull requests and issues as possible and explore new areas of features and improvements building off of seven years of dedicated work. We will be having several international event locations including:

Beyond these event locations, you are encouraged to have your own event in your lab/organization/company and video conference into all the other events.

For more details, see the event page.

Posts: 1

Participants: 1

Read full topic

by @davetcoleman Dave Coleman on September 12, 2018 12:00 AM

September 10, 2018
ROSCon 2017: Introducing OpenManipulator; the full open robot platform -- Darby Taehoon Lim, Yoonseok Pyo, and Leon Ryuwoon Jung (ROBOTIS)

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

Darby presents the OpenManipulator and easy way to get into manipulation.

Video

Abstract

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

Slides

View the slides here

by Tully Foote on September 10, 2018 07:00 PM

[ROS LIVE-Class] Duckietown AI Driving Olympics

@YUHONG_LIN wrote:

[LIVE STREAMING] Duckietown AI Driving Olympics

The Duckietown project is devoted to teaching AI and machine learning with robots. Recently they launched the AI-Do Driving Olympics competition about self-driving cars.

In this series of three Live Classes we are going to see how to use simulations to program de Duckiebots solve the AI-Do competition and program simple self-driving cars.

▸ EP1 | Sep 11th, 2018

In this Live Class we’ll see:

  • How to set up a full Gazebo simulation of a Duckietown and Duckiebots with the proper ROS interface

  • How to access the sensors and actuators of the Duckiebots

  • How to create a simple navigation program for the robot

▸ EP 2 | Sep 18th, 2018

In this Live Class we’ll see:

  • How to use OpenAI to create a robot that follows the lines. We will use reinforcement Learning (DeepQ learning)

▸ EP 3 | Sep 25th, 2018

In this Live Class we’ll see:

  • How to manage traffic, avoiding other Duckiebots and handling intersections. We will use deep learning to train the robots.

Posts: 1

Participants: 1

Read full topic

by @YUHONG_LIN on September 10, 2018 02:32 PM

September 08, 2018
ROSCon 2017: easy_handeye: hand-eye calibration for humans -- Marco Esposito and Salvatore Virga (Technical University of Munich)

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

Marco introduces the easy_hadeye package using motivation from his groups research using multiple systems.

Video

Abstract

Hand-Eye calibration is a "necessary evil" for enabling the interaction between a robot and its environment, including humans. Determining the precise geometric transformation between the coordinate systems of the robot and the utilized camera(s) is as annoying as it is important in order to avoid errors of multiple centimeters already at a meter distance. easy handeye is a new ROS package that aims at facilitating the computation and management of Hand-Eye calibration, while keeping the library completely generic with respect to hardware and encouraging the user to employ best practices known to date.

Slides

View the slides here

by Tully Foote on September 08, 2018 01:46 AM

September 06, 2018
New Packages for Kinetic 2018-09-06

@tfoote wrote:

We’re happy to announce 18 new packages and 111 updated package for Kinetic.

This is due to the work of dozens of maintainers and many more contributors. Than you all for your efforts!

Full listings are below.

Package Updates for kinetic

Added Packages [18]:

Updated Packages [111]:

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
  • Augusto
  • AutonomouStuff Software Development Team
  • AutonomouStuff Software Team
  • Ben Charrow
  • D. Hood
  • Dan Lazewatsky
  • Daniel Koch
  • David V. Lu!!
  • Davide Faconti
  • Dirk Thomas
  • Helen Oleynikova
  • Hitoshi Kamada
  • Jeremie Deray
  • Jim Vaughan
  • Kei Okada
  • Martin Günther
  • Michael Ferguson
  • Noda Shintaro
  • Patrick Beeson
  • Rik Bähnemann
  • Rohan Agrawal
  • Ryohei Ueda
  • Sam Pfeiffer
  • Takuya Nakaoka
  • Tokyo Opensource Robotics Kyokai (TORK) Developer Team
  • Tokyo Opensource Robotics Kyokai(TORK) Developer Team
  • Yohei Kakiuchi
  • Yuki Furuta
  • Yuto Inagaki

Posts: 1

Participants: 1

Read full topic

by @tfoote Tully Foote on September 06, 2018 09:31 PM

New Packages for Indigo 2018-09-06

@tfoote wrote:

We’re happy to announce 10 new packages and 46 updated packages for Indigo Igloo.

Thank you to all the maintainers and contributors who work continuously to make these packages available. Full details are below.

Package Updates for indigo

Added Packages [10]:

Updated Packages [46]:

  • ros-indigo-assimp-devel: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-astuff-sensor-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-bayesian-belief-networks: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-collada-urdf-jsk-patch: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-delphi-esr-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-delphi-mrr-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-delphi-srr-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-derived-object-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-downward: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-eus-assimp: 0.4.1-0 -> 0.4.2-0
  • ros-indigo-euscollada: 0.4.1-0 -> 0.4.2-0
  • ros-indigo-eusurdf: 0.4.1-0 -> 0.4.2-0
  • ros-indigo-ff: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-ffha: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-ibeo-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-jsk-3rdparty: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-jsk-model-tools: 0.4.1-0 -> 0.4.2-0
  • ros-indigo-julius: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-julius-ros: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-kartech-linear-actuator-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-laser-filters-jsk-patch: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-libcmt: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-libsiftfast: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-lpg-planner: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-mini-maxwell: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-mobileye-560-660-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-neobotix-usboard-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-network-interface: 2.0.0-0 -> 2.1.0-0
  • ros-indigo-nlopt: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-opt-camera: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-pacmod-game-control: 2.1.0-0 -> 2.2.0-1
  • ros-indigo-pacmod-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-pacmod3: 1.1.0-0 -> 1.1.1-0
  • ros-indigo-pgm-learner: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-plotjuggler: 1.8.2-0 -> 1.8.3-0
  • ros-indigo-radar-msgs: 2.2.1-1 -> 2.2.2-0
  • ros-indigo-ros-introspection: 1.0.0-0 -> 1.0.1-0
  • ros-indigo-ros-speech-recognition: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-roscompile: 1.0.0-0 -> 1.0.1-0
  • ros-indigo-rosparam-handler: 0.1.3-0 -> 0.1.4-0
  • ros-indigo-rospatlite: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-rosping: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-rostwitter: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-slic: 2.1.10-0 -> 2.1.11-0
  • ros-indigo-static-tf: 0.0.1-1 -> 0.0.2-2
  • ros-indigo-voice-text: 2.1.10-0 -> 2.1.11-0

Removed Packages [0]:

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

  • Atsushi Watanabe
  • AutonomouStuff Software Development Team
  • AutonomouStuff Software Team
  • David V. Lu!!
  • Davide Faconti
  • Hitoshi Kamada
  • Jeremie Deray
  • Kei Okada
  • Martin Günther
  • Noda Shintaro
  • Ryohei Ueda
  • Takuya Nakaoka
  • Yohei Kakiuchi
  • Yuki Furuta
  • Yuto Inagaki
  • k-okada

Posts: 1

Participants: 1

Read full topic

by @tfoote Tully Foote on September 06, 2018 09:29 PM

Robot Operating System – A flexible framework for writing robot software

@lentinjoseph wrote:

An interesting discussion going on in hacker news on ROS

For more read

https://news.ycombinator.com/item?id=17916456

Posts: 5

Participants: 3

Read full topic

by @lentinjoseph Lentin Joseph on September 06, 2018 03:29 PM

September 04, 2018
New packages for Melodic 2018-09-04

@clalancette wrote:

We’re happy to announce the next update for ROS Melodic. We have 54 new packages as well as 28 updated packages.

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

Full details are below.

Package Updates for melodic

Added Packages [54]:

Updated Packages [28]:

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
  • AutonomouStuff Software Development Team
  • AutonomouStuff Software Team
  • D. Hood
  • Dan Lazewatsky
  • Daniel Stonier
  • David V. Lu!!
  • Davide Faconti
  • Felix Ruess
  • Helen Oleynikova
  • Hitoshi Kamada
  • Kei Okada
  • Ken Tossell
  • Michael Ferguson
  • Michal Staniaszek
  • Monika Florek-Jasinska
  • Noda Shintaro
  • Patrick Beeson
  • ROS Orphaned Package Maintainers
  • Rik Bähnemann
  • Russell Toris
  • Ryohei Ueda
  • Sam Pfeiffer
  • Takuya Nakaoka
  • Vladimir Ermakov
  • Yohei Kakiuchi
  • Yuki Furuta
  • Yuto Inagaki
  • k-okada

Posts: 1

Participants: 1

Read full topic

by @clalancette Chris on September 04, 2018 06:08 PM

September 03, 2018
Learn rosserial with Arduino with video illustrations

@Anis_Koubaa wrote:

Hi

I am happy to to announce that I have added a brand new section on rosserial to my Udemy course:
ROS for Beginners: Basics, Motion, and OpenCV

rosserial is a communication protocol develop in ROS for allowing integration of new hardware like Arduino and other embedded system to ROS ecosystem.

The section contains 11 lectures for a duration of around 1 hour.

It presents general overviews about rosserial and Arduino and then provides many illustrations on how to setup the environment and how to develop rosserial applications for Arduino boards. Three rosserial applications were demonstrated: (1) hello world ROS publisher, (2) blink ROS subscriber to turn on/off the led of the board, (3) ultrasonic range sensor.

To learn about rosserial with Arduino, you can enroll to my course

You can watch a sample video on YouTube

Anis

Posts: 1

Participants: 1

Read full topic

by @Anis_Koubaa Anis Koubaa on September 03, 2018 02:24 PM

August 31, 2018
ROSject: Share your project through a shareable link

@YUHONG_LIN wrote:

What is ROSject

ROSjects allow you to share and reproduce your robotics results in real time on any type of computer without requiring installation of anything (everything runs on the cloud). It is like a Docker of your project but that works 100% sure on any computer without previous configuration or step from your side.

You can share your ROSject with anyone by sharing a simple web link

  • Video 1. ROBOTIS Korean company shares their robotics code using ROSjects.

  • Video 2: The Construct shares ROSjects with the international audience at their weekly online ROS Live Class and everyone can start running the code from minute 1.

  • Link 1: get the ROSject of the simulation of a water robot plus OpenAI training system included (here video with further instructions).

  • Video 3: to learn how to create your ROSject (as simple as uploading your ROS packages) and how to share a ROSject with anyone (as simple as sharing a Google Document link).

We use ROSjects for:

  • Sharing robotics class projects with students at the University of LaSalle
  • Provide demos of our robotics systems to non-experts
  • Share our code with colleagues that work on Windows or Mac
  • Make people reproduce our robotics results (and improve them without starting from zero)
  • Compare results under the exact same circumstances
  • We successfully applied this ROSject system to all the presentations of the ROS Developers Conference 2018 last July. You can check some of the presentations here.

Happy ROSing,
The Construct Team
info@theconstructsim.com
http://www.theconstructsim.com

Posts: 10

Participants: 6

Read full topic

by @YUHONG_LIN on August 31, 2018 01:40 PM

August 30, 2018
Request for Comments: static_transform_mux

@peci1 wrote:

Hello ROS (1) developers. Recently, I was facing some issues due to the fact that I had more than one /tf_static publisher in my system. I think that’s not completely unusual, since I’ve seen several people trying to do the same.

The problem is the following: the /tf_static topic should have all publishers latched, which is good for latecomers online, but not sufficient when replaying a bag - then you will only get the transforms from the last publisher that published to /tf_static. What I (and more people) would expect is to get all the static transforms. That is not accomplishable through latching.

I tackled the problem by creating the static_transform_mux node that sits there all the time, remembers everything it saw on /tf_static, and tries to always be the last publisher on the topic publishing all the transforms it saw.

What do you think about this approach? Do you think it’s worth trying to publish it as an official ROS package? Or should I instead send a PR to tf2_ros or rosbag?

Thank you very much for your opinions!

Posts: 3

Participants: 3

Read full topic

by @peci1 Martin Pecka on August 30, 2018 04:01 PM

August 29, 2018
New Packages Lunar 2018-08-28

@marguedas wrote:

We’re happy to announce another batch of updates for Lunar. There are 35 new packages and 117 updated packages. Full details are below.

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

Package Updates for lunar

Added Packages [35]:

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
  • Augusto
  • AutonomouStuff Software Development Team
  • AutonomouStuff Software Team
  • Ben Charrow
  • Chad Rockey
  • Christoph Rösmann
  • David V. Lu!!
  • Davide Faconti
  • Dirk Thomas
  • Felix Ruess
  • Geoff Viola
  • Helen Oleynikova
  • Konstantin Schauwecker
  • Martin Guenther
  • Max Schwarz
  • Michael Ferguson
  • Mikael Arguedas
  • Monika Florek-Jasinska
  • Patrick Beeson
  • Pyo
  • Rik Bähnemann
  • Russel Howe
  • Russell Toris
  • Sam Pfeiffer
  • Tony Baltovski
  • Vladimir Ermakov

Posts: 1

Participants: 1

Read full topic

by @marguedas Mikael Arguedas on August 29, 2018 03:12 AM

August 28, 2018
Link to PCL seems to be hacked?

@mbharatheesha wrote:

Dear All,

I don’t know if any of you observed this or if this is a known issue. I just googled point cloud library and on clicking the link that used to be for PCL before leads me to an alert about a virus. This happened on a Mac and then also checked on a Linux distribution on a colleague’s laptop.

Just thought of sharing here so that PCL maintainers/developers can have a look.

Thanks!

Posts: 3

Participants: 3

Read full topic

by @mbharatheesha Mukunda on August 28, 2018 09:20 AM

August 25, 2018
SROS2 Tutorial | IROS 2018

@ruffsl wrote:

TL;DR: SROS2 Tutorial at IROS is scheduled the day after ROSCon, so please join us!

Hello everyone!

For those of you who might have missed the news, this morning the WIRED published a ROS relevant article in relation to the present state of security for robotics [1]:

The article touches upon some recent work from Brown University, namly the ROS Internet Mapping Project, that I would also recommend checking out [2]:

The ROS Internet Mapping project is a research work in the Computer Science Department at Brown University to identify instances of Robot Operating System (ROS) available on the public Internet.


In light of this news, I’d like to also take the chance to also plug for the SROS2 tutorial at IROS 2018:

Mo-TUT-4: Securing Robotics with SROS2 (PM)

This tutorial will provide a formal introduction to SROS2 for roboticists as an effort towards advancing the state of security in the robotics community. The objectives of this session will be multifaceted; primary hands-on instruction in setup and use of newer security features and tooling within ROS2, while secondary and tertiary objective include insighting more contributors to join the the project as well as soliciting further feedback.

This will be a half day tutorial on Oct 1st, the day following the conclusion of ROSCon. If you plan on being in Madrid for either ROSCon or IROS 2018, and would be interested in learning and discussing security features for ROS2, I’d encourage you to join us Monday afternoon. In addition to myself, most of the other speakers may also be familiar to you, including: Gerardo Pardo, Bernhard Dieber, Gianluca Caiazza, and Mikael Arguedas.

See y’all soon,
Ruffin

[1] https://www.wired.com/story/security-robotics
[2] https://systems.cs.brown.edu/robotsecurity
[3] https://ruffsl.github.io/IROS2018_SROS2_Tutorial
[4] https://www.iros2018.org/tutorials

P.S.

I’ve been working on some tutorial material to showcase a bit of tooling I’ve been developing to Procedurally Provisioned Access Control for SROS2. If you want early peak or would like to help battle test it, feel free to check it out and ticket issues:

Posts: 6

Participants: 4

Read full topic

by @ruffsl ruffsl on August 25, 2018 06:19 AM

Ros_comm - request for help

@dirk-thomas wrote:

If you have created a pull request against the ROS 1 ros_comm repository in the past you have likely experienced a long wait until you have received feedback - and in several cases your patch might not have received any attention yet. Unfortunately this has become a more frequent problem in the recent past (and I am really sorry for that negative experience). So why is that the case?

I am the assigned maintainer of almost all packages in the ros_comm repository. Beside that I am also the designated maintainer of almost all ROS 1 packages which make up the ros_core metapackage as well as higher level packages like rqt. ros_comm is standing out here due to its prominent content but other “high profile” repositories like rviz are similar in this regard. ros_comm receives by far the most tickets - issues as well as pull requests. In the early ROS days it was often sufficient to file a ticket describing a problem or feature idea and “someone” would just go ahead and fix / implement it for you. That has been much less the case in recent years. At least on the pull request side I was able to review contributions in regular intervals (something around every few weeks). Unfortunately not only has that interval continuously increased also the time I am able to spend on actually reproducing problems, testing patches etc. has decreased significantly. That resulted in both: patches got merged which weren’t sufficiently tested and introduced regressions as well as many patches which haven’t been “accepted” until now.

To understand why that is the case I have to mention a bit about my work time at Open Robotics. As you’ve surely noticed over the past few years, our development focus is on ROS 2. We’re still maintaining ROS 1 on a best-effort basis, but my day-to-day priority is shifting more and more towards ROS 2 development. That priority is the result of both our decision as a company on where to focus our energy and the reality of what type and scope of work can be supported by the industry partners and government agencies that supply the bulk of our funding. As a result any time that I do spend on ROS 1 maintenance necessarily takes away from our current projects. And even without targeted funding, the company decides to continuously invest quite some discretionary resources into ROS 1 maintenance (through each of our employees) - consider the effort it takes us every year to prepare a new ROS distribution - beside the continuous work on issues and pull requests, running the buildfarm, etc.

Open Robotics doesn’t have the resources available to allocate to these tasks so we can’t expect any additional time to “magically” become available. Luckily there is already one external ROS developer helping to maintain the ros_comm repo (Thank you, Mike Purvis / Clearpath Robotics!). Without his efforts the current situation would be much worse. But the trend of me having less and less time as well as the load continuously increasing leads to the current unsatisfying situation as well as a not very positive outlook for the future.

So what can we do about it? Ultimately we need more people to volunteer to help with the effort of maintaining these packages. These contributions can come in many forms: review pending patches (which includes reproducing the problem, applying the proposed patch, reporting that the problem is fixed, additional testing to check for potential regressions), review incoming issues and provide users with help to fix them, help with other maintainer tasks like creating and testing patch releases, considering patches for backporting into “older” ROS distributions which are still being supported, investigating flaky tests, etc. A good way to start is to browse through the existing tickets and subscribe to the notifications on the repo so you will get emailed when new issues / pull requests are coming in, and some may pique your interest. While any kind of help is highly appreciated we are looking for people which want to help for a longer time period and on a regular base with these tasks. If you would like to “commit” to that kind of support please let us know and we are happy to get you more actively involved.

Posts: 9

Participants: 7

Read full topic

by @dirk-thomas Dirk Thomas on August 25, 2018 12:44 AM

August 24, 2018
New Packages for Indigo 2018-08-24

@tfoote wrote:

We’re happy to announce another batch of updates for Indigo. There are 13 new packages and 29 updated packages. Full details are below.

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

Package Updates for indigo

Added Packages [13]:

Updated Packages [29]:

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
  • AutonomouStuff Software Development Team
  • AutonomouStuff Software Team
  • Bruno Brito
  • Christoph Rösmann
  • Davide Faconti
  • Felix Ruess
  • Florian Weisshardt
  • Helen Oleynikova
  • Kevin Hallenbeck
  • Monika Florek-Jasinska
  • Rik Bähnemann
  • Tokyo Opensource Robotics Kyokai (TORK) Developer Team

Posts: 1

Participants: 1

Read full topic

by @tfoote Tully Foote on August 24, 2018 08:50 PM


Powered by the awesome: Planet