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IEEE Robotics and Automation Practice (RA-P) is on live.

Robotics and Automation Practice (RA-P) seeks to publish research explicitly directed toward practitioner’s interests and concerns, with results deployed in actual robotics and automation settings immediately or in the near-term.

As a one of the editorial board members, I am really excited to look forward to seeing a lot of technical papers, applications, systems for robotics in the real-world practice from ROS Community

IEEE RAS RA-P flyer.pdf (870.4 KB)

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ROS News for the Week of October 7th, 2024

ROSCon 2024 is officially sold out! We can’t wait to see all 950 of you in Odense in a little over a week.

For those of you attending ROSCon we still have Birds of a Feather slots open. If you didn’t sign up for a workshop please consider organizing or attending one or more BoF sessions. We also have a few late-breaking unofficial ROSCon events including, an Aerial Robotics Meetup, and a MoveIt Pro Happy Hour.

Our friends and colleagues over Sail Drone, working with NOAA, shared some incredible footage from inside Hurricane Milton. More local news coverage on the video

Corvus One: Autonomous Inventory Management System

This week we learned that our colleagues and former neighbors at Open Robotics, Corvus Robotics, have raised an $18M Series A. Congrats to the whole team! More reporting at the The Robot Report

Checkout Plantolin, a bio-inspired robot built as part of the Natural Robotics Contest. I got my start working on a bio-inspired robots, and this competition seems like a great way to get younger kids interested in the field. As for the Plantolin, seed scattering animals are quite effective, and seem to be at work in my yard. They also seem to be commercially viable.

Events

• 2024-10-14 ROS Rust Meeting
• 2024-10-21 → 2024-10-24 ROSCon 2024 in Odense, Denmark
• 2024-10-21 ROSCon 2024 Odense Aerial Robotics Meetup
• 2024-10-21 MoveIt Pro Happy Hour at ROSCon 2024 (Denmark)
• 2024-10-22 → 2024-10-24 AgRobot FIRA in Sacramento
• 2024-10-24 → 2024-10-25 ROS Industrial Conference EU in Odense
• 2024-10-23 → 2024-10-25 16th International Conference on Social Robotics +AI
• 2024-11-02 → 2024-11-03 ROSCon China in Shenzhen
• 2024-11-6 Conference on Robot Learning
• 2024-11-6 → 2024-11-7 ROS-Industrial APAC Summit – More
• 2024-11-11 CFP for International Workshop on Robotics Software Engineering
• CoRL Workshop on Lifelong Learning in Home Robotics
• 2024-11-22 F1Tenth Learning to Trust Autonomy Workshop at BU
• 2024-12-03 ROSCon Germany
• 2024-12-05 ROSCon India
• 2024-12-16 => 2024-12-19 F1Tenth Sim Racing League at CDC 2024
• 2024-12-22 Open Hardware Summit CFP Deadline
• 2024-12-31 Deadline for Natural Robotics Contest
• 2025-04-28 International Workshop on Robotics Software Engineering
• 2025-05-30 => 2025-05-31 2025 Open Hardware Summit in Edinburgh

News

• Embodied AI Community Group - Call of Interest
• Corvus Robotics Raises $18M Series A – The Robot Report
• ROSCon 2024 Odense Aerial Robotics Meetup
• Mobile robotics ROS 2 project seeking team members
• MoveIt Pro Happy Hour at ROSCon 2024 (Denmark)
• BitCraze on Open-CV Live
• Hacked Robot Vacuums Yell Slurs
• Plantolin: Winner of 2nd Natural Robotics Contest
• For the Kids: Natural Robotics Contest
• 3D Vision Without Lidar
• SailDrone: Live Inside Milton
• North American robotics sales declined in first half of 2024
• Amazon’s new warehouses will employ 10x as many robots
• Mcity gives green light to remote autonomous vehicle testing, calls for federal standards
• Video Friday

ROS

• MoveIt Pro 6 Released - Runtime and Developer Platform for ROS 2
• 1 New and 119 Updated Packages for Iron Irwini
• RobotCAD 3.0.0 - released (5 mins to sim workflow)
• Robotics and ROS 2 - Learn by Doing! Manipulators
• Python Bindings for ROS 2 Image Transport – Tutorials
• Simulating a Custom Robot Arm with ROS 2 and MoveIt 2
• Wrapper for MoveIt2 and ROS 2.
• SOBIT Pro Robot
• Robot Design Optimization with Rotational and Prismatic Joints
• A proxy for seamless communication between ROS 2 topics and WebSocket clients
• KISS-Matcher for Point Clouds
• Multi-camera multi-robot visual localization system
• FlashMix: Fast Map-Free LiDAR Localization
• RX1 Humanoid Arm Hardware
• AFLI-Calib: Robust LiDAR-IMU extrinsic self-calibration

Got a Minute?

We have issues in the ROS 2 Documentation that could use your help! We really need the community to help pitch in with documentation writing. Just an hour two of contribution would really help.

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For anyone who’s starting to participate on the conference app, here are the top contributors from last year! (@Shane_at_PickNik has the top place two years running)

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The backward_ros package is great. It gives you a stack trace when your ros2 application crashes.
We’re on rolling distro and since about a couple of months ago, backward_ros has stopped working. Now all you see is a stack trace with hex addresses.

Is this the experience for others on rolling?

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Hello, I am integrating ros2_controllers to RobotCAD and faced to lack of examples and documentation of chaining ros2_controllers (all of them).

Could you give me links to chained ros2_controllers YAML configs examples or addintion docs? I mean not custom controllers but just chained controllers from ros2_controllers repository.

Screenshot of future feature ros2_controllers in RobotCAD

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Hello everyone!

We’re happy to announce 1 new package and 119 updates are now available in ROS 2 Iron Irwini .

This sync was tagged as iron/2024-10-08 .

Package Updates for iron

Added Packages [1]:

• ros-iron-neo-nav2-bringup: 1.1.1-1

Updated Packages [119]:

• ros-iron-apriltag-mit: 1.2.2-1 → 2.0.0-1
• ros-iron-apriltag-mit-dbgsym: 1.2.2-1 → 2.0.0-1
• ros-iron-depthai-bridge: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-bridge-dbgsym: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-descriptions: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-examples: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-examples-dbgsym: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-filters: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-filters-dbgsym: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-ros: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-ros-driver: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-ros-driver-dbgsym: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-ros-msgs: 2.10.0-1 → 2.10.1-1
• ros-iron-depthai-ros-msgs-dbgsym: 2.10.0-1 → 2.10.1-1
• ros-iron-fastrtps: 2.10.4-1 → 2.10.5-1
• ros-iron-fastrtps-dbgsym: 2.10.4-1 → 2.10.5-1
• ros-iron-grasping-msgs: 0.4.0-1 → 0.5.0-1
• ros-iron-grasping-msgs-dbgsym: 0.4.0-1 → 0.5.0-1
• ros-iron-imu-complementary-filter: 2.1.4-1 → 2.1.5-1
• ros-iron-imu-complementary-filter-dbgsym: 2.1.4-1 → 2.1.5-1
• ros-iron-imu-filter-madgwick: 2.1.4-1 → 2.1.5-1
• ros-iron-imu-filter-madgwick-dbgsym: 2.1.4-1 → 2.1.5-1
• ros-iron-imu-tools: 2.1.4-1 → 2.1.5-1
• ros-iron-kitti-metrics-eval: 1.2.0-1 → 1.2.1-1
• ros-iron-kitti-metrics-eval-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-bridge-ros2: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-bridge-ros2-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-demos: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-imu-preintegration: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-imu-preintegration-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-euroc-dataset: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-euroc-dataset-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-kitti-dataset: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-kitti-dataset-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-kitti360-dataset: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-kitti360-dataset-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-mulran-dataset: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-mulran-dataset-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-paris-luco-dataset: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-paris-luco-dataset-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-rawlog: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-rawlog-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-rosbag2: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-input-rosbag2-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-kernel: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-kernel-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-launcher: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-launcher-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-metric-maps: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-metric-maps-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-msgs: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-msgs-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-navstate-fg: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-navstate-fg-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-navstate-fuse: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-navstate-fuse-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-pose-list: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-pose-list-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-relocalization: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-relocalization-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-traj-tools: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-traj-tools-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-viz: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-viz-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-yaml: 1.2.0-1 → 1.2.1-1
• ros-iron-mola-yaml-dbgsym: 1.2.0-1 → 1.2.1-1
• ros-iron-mrpt-apps: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-apps-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libapps: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libapps-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libbase: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libbase-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libgui: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libgui-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libhwdrivers: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libhwdrivers-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libmaps: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libmaps-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libmath: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libmath-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libnav: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libnav-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libobs: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libobs-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libopengl: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libopengl-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libposes: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libposes-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libros-bridge: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libros-bridge-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libslam: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libslam-dbgsym: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-libtclap: 2.14.0-1 → 2.14.1-1
• ros-iron-mrpt-map-server: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-map-server-dbgsym: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-msgs-bridge: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-nav-interfaces: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-nav-interfaces-dbgsym: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-navigation: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-pf-localization: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-pf-localization-dbgsym: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-pointcloud-pipeline: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-pointcloud-pipeline-dbgsym: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-rawlog: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-rawlog-dbgsym: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-reactivenav2d: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-reactivenav2d-dbgsym: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-tps-astar-planner: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-tps-astar-planner-dbgsym: 2.1.1-1 → 2.2.0-1
• ros-iron-mrpt-tutorials: 2.1.1-1 → 2.2.0-1
• ros-iron-mrt-cmake-modules: 1.0.10-1 → 1.0.11-1
• ros-iron-python-mrpt: 2.14.0-1 → 2.14.1-1
• ros-iron-rviz-imu-plugin: 2.1.4-1 → 2.1.5-1
• ros-iron-rviz-imu-plugin-dbgsym: 2.1.4-1 → 2.1.5-1
• ros-iron-sick-safetyscanners2: 1.0.3-1 → 1.0.4-1
• ros-iron-sick-safetyscanners2-dbgsym: 1.0.3-1 → 1.0.4-1
• ros-iron-swri-console: 2.0.5-1 → 2.0.6-1
• ros-iron-swri-console-dbgsym: 2.0.5-1 → 2.0.6-1

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:

• Adam Serafin
• Bernd Pfrommer
• Jose Luis Blanco-Claraco
• Jose-Luis Blanco-Claraco
• José Luis Blanco-Claraco
• Kevin Rösch
• Lennart Puck
• Markus Bader
• Martin Günther
• Michael Ferguson
• Miguel Company
• Pradheep Padmanabhan
• Southwest Research Institute

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Hi all!

We wanted to announce here that we just launched our company, Henki Robotics Ltd., specializing in robotics software development using ROS 2!

We are Janne and George, two robotics software engineers from Joensuu, Finland. After working for years in robotics, we have seen many organizations all over the world facing similar challenges related to robotics and ROS development. Our goal with Henki Robotics is to help reduce development costs by providing our expertise through consulting and custom code development.

Today we published the first version of our website - check it out to learn more about us and our company. Currently, we are looking for interesting robotics projects where we could assist. Do you have a project where you need technical expertise, or know someone who does? If so, we would be happy to discuss!

www.henkirobotics.com

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ROS News for the Week of September 30th, 2024

Gazebo Ionic has been released!

@fmrico has been working on a cool little tool called YAETS (Yet Another Execution Tracing System) that let’s you track node execution order via a Gantt Charts.

Check out this “Great Outdoors Dataset (GOD)”, it is a collection of annotated off-road multi-modal scenes with just about every type of sensor in a ROSBag.

Our friends and colleagues over at Dexory have raised an $80M series B to fund expansion to the US market.

ROSCon tickets are basically sold out! Last I heard, there were two dozen tickets remaining, and that was three days ago. It is now or never.

Events

• 2024-10-09 Aerial Robotics Meeting
• 2024-10-14 ROS Rust Meeting
• 2024-10-21 → 2024-10-24 ROSCon 2024 in Odense, Denmark
• 2024-10-22 → 2024-10-24 AgRobot FIRA in Sacramento
• 2024-10-24 → 2024-10-25 ROS Industrial Conference EU in Odense
• 2024-10-23 → 2024-10-25 16th International Conference on Social Robotics +AI
• 2024-11-02 → 2024-11-03 ROSCon China in Shenzhen
• 2024-11-6 → 2024-11-7 ROS-Industrial APAC Summit – More
• 2024-11-11 CFP for International Workshop on Robotics Software Engineering
• CoRL Workshop on Lifelong Learning in Home Robotics
• 2024-11-22 F1Tenth Learning to Trust Autonomy Workshop at BU
• 2024-12-03 ROSCon Germany
• 2024-12-05 ROSCon India
• 2024-12-16 => 2024-12-19 F1Tenth Sim Racing League at CDC 2024
• 2025-04-28 International Workshop on Robotics Software Engineering

News

• Audrow Nash: How Can Package Management Solve Robotics Cross-Platform Headaches
• Exact Volumetric Ellipsoid Rendering for Real-time View Synthesis
• ETH Zurich Robust Ladder Climbing
• Robots Make Bagles in Berkeley
• Dexory Raises $80M Series B
• The Great Outdoors Dataset: Off-Road Multi-Modal Dataset
• University of Illinois study on assistive healthcare robots earns international award
• BuiltWorlds reports that the construction industry may be warming to robotics
• Robotics investments near $1B in August
• ETH Zurich spinoff Voliro’s flying robots save lives, but don’t tell its CEO
• Serve Robotics and Wing to trial robot-to-drone delivery in Dallas
• Video Friday
• New UMass YCB Object Grasp Data Survey
• Gazebo Ionic at Intrinsic
• EFM3D: a new benchmark for 3D egocentric perception tasks
• RobotFingerPrint: Unified Gripper Coordinate Space for Multi-Gripper Grasp Synthesis​
• Exploring Performance Bounds of Visual Place Recognition Using Extended Precision
• Some Thoughts on Robotics Startups
• Sparsify and Densify Visual Inertial Odometry
• Robotic Environmental State Recognition with Pre-Trained Vision-Language Models and Black-Box Optimization
• ECCV 2024 Papers (Japanese / English)
• Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction
• Game Engine Coordinate Frame Alignment Chart – We should make one of these for robotics / simulation.

ROS

• Gazebo Ionic Release
• 2 New and 99 Updated Packages for Noetic
• ROS Interface for CubeMars Actuators
• ROS Interface for Teknic Servo Motors
• ROS 2 Node Management Tools?
• End-to-End AI for Robotics
• Video: Maritime Robotics Community Group Sept. Meeting
• MoveIt Pro 6 Released - Runtime and Developer Platform for ROS 2
• OpenDog V3 on ROS 2
• Nav2 Docking in the Wild
• FastDDS Share Memory Transport Slow
• OSRA TGC Approved Meeting Minutes
• ROS 2 Live Depth Cam / Point Cloud Visualization with Rerun
• MOLA Lidar Slides from ROSCon ES
• @fmrico YAETS: Yet Another Execution Tracing System (for ROS)
• TurtleBot3 Lime
• package.xml 2 package.nix
• IROS 2024 MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot
• Dockerfile to make ROS 2 environment on Jetson device.

Got a Minute?

If you’ve got some extra time please take a minute to answer a couple questions over on Robotics Stack Exchange. Your answers help us build a knowledge base of answers to common ROS questions.

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Hey ROS folks,

We are yaak.ai, a tiny startup in Berlin focussed on building tools and OSS that enable end-to-end AI for robotics. We just getting started with our open-source effort and would appreciate your feedback on our recent project — rbyte.

With the latest release we’ve added support for building training batches (PyTorch tensordict) directly from rosbags/mcap, without the need to unpack them. A sample NuScenes-v1.0 config is in the repo for you to try out. If there public robotics datasets (rosbags/mcap), which you would like us to support in rbyte, please feel free to open a discussion in gh.

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We’re happy to announce 2 new packages and 99 updates are now available in ROS Noetic. This sync was tagged as noetic/2024-10-03.

Thank you to every maintainer and contributor who made these updates available!

Package Updates for ROS Noetic

Added Packages [2]:

• ros-noetic-python-mrpt: 2.14.1-1
• ros-noetic-timed-roslaunch: 0.2.0-1

Updated Packages [99]:

• ros-noetic-chomp-motion-planner: 1.1.14-1 → 1.1.15-1
• ros-noetic-cras-cpp-common: 2.3.9-1 → 2.4.4-1
• ros-noetic-cras-docs-common: 2.3.9-1 → 2.4.4-1
• ros-noetic-cras-py-common: 2.3.9-1 → 2.4.4-1
• ros-noetic-cras-topic-tools: 2.3.9-1 → 2.4.4-1
• ros-noetic-depthai-bridge: 2.9.0-1 → 2.10.1-1
• ros-noetic-depthai-descriptions: 2.9.0-1 → 2.10.1-1
• ros-noetic-depthai-examples: 2.9.0-1 → 2.10.1-1
• ros-noetic-depthai-filters: 2.9.0-1 → 2.10.1-1
• ros-noetic-depthai-ros: 2.9.0-1 → 2.10.1-1
• ros-noetic-depthai-ros-driver: 2.9.0-1 → 2.10.1-1
• ros-noetic-depthai-ros-msgs: 2.9.0-1 → 2.10.1-1
• ros-noetic-image-transport-codecs: 2.3.9-1 → 2.4.4-1
• ros-noetic-mapviz: 1.4.2-1 → 1.4.3-1
• ros-noetic-mapviz-plugins: 1.4.2-1 → 1.4.3-1
• ros-noetic-message-filters: 1.16.0-1 → 1.17.0-1
• ros-noetic-moveit: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-chomp-optimizer-adapter: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-commander: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-core: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-fake-controller-manager: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-kinematics: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-planners: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-planners-chomp: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-planners-ompl: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-plugins: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-benchmarks: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-control-interface: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-manipulation: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-move-group: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-occupancy-map-monitor: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-perception: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-planning: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-planning-interface: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-robot-interaction: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-visualization: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-ros-warehouse: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-runtime: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-servo: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-setup-assistant: 1.1.14-1 → 1.1.15-1
• ros-noetic-moveit-simple-controller-manager: 1.1.14-1 → 1.1.15-1
• ros-noetic-mp2p-icp: 1.5.4-1 → 1.6.2-2
• ros-noetic-mrpt-apps: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-ekf-slam-2d: 0.1.18-1 → 0.1.19-1
• ros-noetic-mrpt-ekf-slam-3d: 0.1.18-1 → 0.1.19-1
• ros-noetic-mrpt-graphslam-2d: 0.1.18-1 → 0.1.19-1
• ros-noetic-mrpt-icp-slam-2d: 0.1.18-1 → 0.1.19-1
• ros-noetic-mrpt-libapps: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libbase: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libgui: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libhwdrivers: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libmaps: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libmath: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libnav: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libobs: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libopengl: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libposes: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libros-bridge: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libslam: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-libtclap: 2.13.7-5 → 2.14.1-1
• ros-noetic-mrpt-local-obstacles: 1.0.6-2 → 1.0.7-1
• ros-noetic-mrpt-localization: 1.0.6-2 → 1.0.7-1
• ros-noetic-mrpt-map: 1.0.6-2 → 1.0.7-1
• ros-noetic-mrpt-msgs-bridge: 1.0.6-2 → 1.0.7-1
• ros-noetic-mrpt-navigation: 1.0.6-2 → 1.0.7-1
• ros-noetic-mrpt-path-planning: 0.1.4-1 → 0.1.5-1
• ros-noetic-mrpt-rawlog: 1.0.6-2 → 1.0.7-1
• ros-noetic-mrpt-rbpf-slam: 0.1.18-1 → 0.1.19-1
• ros-noetic-mrpt-reactivenav2d: 1.0.6-2 → 1.0.7-1
• ros-noetic-mrpt-slam: 0.1.18-1 → 0.1.19-1
• ros-noetic-mrpt-tutorials: 1.0.6-2 → 1.0.7-1
• ros-noetic-mrt-cmake-modules: 1.0.10-1 → 1.0.11-1
• ros-noetic-multires-image: 1.4.2-1 → 1.4.3-1
• ros-noetic-pilz-industrial-motion-planner: 1.1.14-1 → 1.1.15-1
• ros-noetic-pilz-industrial-motion-planner-testutils: 1.1.14-1 → 1.1.15-1
• ros-noetic-ros-comm: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosbag: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosbag-storage: 1.16.0-1 → 1.17.0-1
• ros-noetic-roscpp: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosgraph: 1.16.0-1 → 1.17.0-1
• ros-noetic-roslaunch: 1.16.0-1 → 1.17.0-1
• ros-noetic-roslz4: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosmaster: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosmsg: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosnode: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosout: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosparam: 1.16.0-1 → 1.17.0-1
• ros-noetic-rospy: 1.16.0-1 → 1.17.0-1
• ros-noetic-rosservice: 1.16.0-1 → 1.17.0-1
• ros-noetic-rostest: 1.16.0-1 → 1.17.0-1
• ros-noetic-rostopic: 1.16.0-1 → 1.17.0-1
• ros-noetic-roswtf: 1.16.0-1 → 1.17.0-1
• ros-noetic-tile-map: 1.4.2-1 → 1.4.3-1
• ros-noetic-topic-tools: 1.16.0-1 → 1.17.0-1
• ros-noetic-ur-client-library: 1.3.7-1 → 1.4.0-1
• ros-noetic-ur-msgs: 1.3.4-1 → 1.4.0-1
• ros-noetic-urg-stamped: 0.2.0-1 → 0.2.1-1
• ros-noetic-xmlrpcpp: 1.16.0-1 → 1.17.0-1

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:

• Adam Serafin
• Alexander Gutenkunst
• Atsushi Watanabe
• Blake Anderson
• Chittaranjan Srinivas Swaminathan
• Daisuke Sato
• Dave Coleman
• Felix Exner
• G.A. vd. Hoorn
• Isaac I. Y. Saito
• Jon Binney
• Jose Luis Blanco-Claraco
• Jose-Luis Blanco-Claraco
• José Luis Blanco-Claraco
• Kevin Rösch
• Marc Alban
• Markus Bader
• Martin Pecka
• Mathias Lüdtke
• Michael Carroll
• Michael Ferguson
• Michael Görner
• Nikos Koukis
• Raghavender Sahdev
• Vladislav Tananaev

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Hi!

I’m currently undertaking the task of building an indoors-outdoors urban robot and have come across a chassis that has an ackermann architecture but there’s no direct actuation in the steering mechanism, instead it has 4 actuated wheels and the steering angle is controlled by the speed differential of the two front wheels. If the robot were turned off you would be able to manually change the steering angle of the two front wheels without finding any resistance, because there’s no motor there, only a pivot.

An example of this chassis is segway’s RMP 401, which seems to have had some adoption in the industry by companies like Coco and Goggo network.

This chassis seems to have some advantages with respect to 4 and 6 wheeled differential chassis, particularly they seem to provide very smooth and agile motion with minimal vibration when operating within the ackermann kinematic constraints (video), while still allowing for almost zero turn radius operating like a 4 wheeled differential (video).

I’m curious to hear if anyone in the community has experience with this kind of hybrid ackermann-differential chassis, particularly regarding:

1. The controllability of the steering mechanism, does your chassis have any kind of feedback on the steering angle despite not being actuated? How controllable is this angle?
2. How much stress is put on the wheels/motors when making near zero radius turns? from the video it seems like there’s quite a bit of wheel slip when operating “outside” what the ackermann kinematics would allow to move as.
3. Maneuverability: How hard is for the chassis to go through tight spaces, such as doors? how would it do for example going in and out of an elevator? How would it do parking/docking?
4. Integrability to ROS ecosystem: I don’t think there’s support either for ros2_control or nav2

Thanks in advance for any opinions you can provide!

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Hey, folks,

We are excited to organize the 7th Edition of the International Workshop on Robotics Software Engineering, co-located at the International Conference on Software Engineering (ICSE '25) in Ottawa, Canada next year (April 27th to May 3rd, 2025).

We would love to see more members of the ROS community get involved, whether that be through submitting a paper on your research, tools, or a case study about software engineering practice, or by participating in the workshop and contributing to the discussion.

If that sounds interesting to you, check out the Call for Papers on the workshop website (RoSE 2025), or feel free to send me a DM or email with any questions! (e.g., “could I submit a paper on X?”)

Submissions are due on November 11th, 2024. We are interested in contributions addressing, but not limited to, the following topics related to robotics software engineering:

• Analysis of challenges in robotic software engineering
• Best practices in engineering robotic software
• Continuous integration and deployment in robotics
• Domain-specific languages and tools for the development of robotic software
• Empirical studies of robotics software and software tools, including its usability
• Engineering (heterogeneous) multi-robot systems.
• Identification and analysis of design principles promoting quality of service (e.g., performance, energy efficiency)
• Lessons learned in the engineering and deployment of large-scale, real-world integrated robot software
• Machine learning applied to robotic software
• Metrics measuring non-functional properties (e.g., robustness, availability, etc.) and their application to robotic software
• Mining software repositories of robotic systems
• Model-Driven Engineering methods and techniques applied to robotic software
• Processes and tools supporting the engineering and development of robotic systems
• Software architecture of robotic systems
• State-of-the-art research projects, innovative ideas, and field-based studies in robotic software engineering
• Static and dynamic analysis of robotic software
• Usability studies of robotics software and tools
• Variability, modularity, and reusability in robotic software
• Validation and verification of robotic software

Thank you on behalf of the RoSE '25 organizers!

Chris

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I am pleased to announce that the approved minutes of the OSRA Technical Governance Committee are now available publicly.

We are working on a much more complete website for the OSRA, which will include space for meeting minutes, project updates, events, and other useful information. However this is taking longer than planned, so in the interest of making these minutes available to the community we are going to place them in this repository as an interim measure.

New minutes will be added once approved by the TGC. This will happen approximately monthly.

Please be sure to read the README file in the repository before browsing the minutes themselves.

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How do you recommend launching a prototype robotics systems on multiple PCs (minimum of an operations computer and a robot computer)? There has been past discussion on this and some great ROS1 tools, but I have yet to see a ROS2 tool that sufficiently fits the bill without also being overly challenging to install and configure (possible exception, perhaps too soon to say).

It feels like this should be a common ROS2 tool, but it appears that the mindset of assigning this design work to roslaunch alone has hampered efforts to make something simple and robust. We are thus left with many bespoke solutions developed by the community for their specific purposes (e.g. docker compose, ansible, systemd, etc.).

From my perspective, rosmon (ROS1) probably got the closest to a must-have reliable tool for remote node management (though I mostly used node manager on projects I was on) and we are in need of some ROS2 equivalent node management tool. Does anyone have insight or recommendations? A few requirements/desirements would be:

1. Manually start / stop nodes on multiple PCs at any time (perhaps with requirement to start some daemon first)
2. See status (alive/dead) of each node (or component set)
3. View individual terminals for each node at any time
4. View parameters for each node (yes, there are other ways to do this already)
5. Launch debug sessions (gdb or similar) on any running node (rosmon does this)

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We’re excited to announce release MoveIt Pro 6 that further enhances the development platform for ROS 2 applications for robot arms on fixed bases, linear rails, and mobile manipulators.

Key New features:

New High Fidelity Physics Simulation Engine

Simulate RGBD cameras, 2D and 3D LiDAR, and most importantly force-torque sensors! The simulator enables a variety of end effectors, including robust 2 finger grippers, vacuum and magnetic grippers, and tools that form rigid attachments, for example welding and nailing. Of particular note, MoveIt Pro’s simulator does not require a dedicated GPU (making it easy to use on any laptop or cloud compute). MoveIt Pro now uses this simulator by default instead of Gazebo.

New Motion Planning with MoveIt Pro RRTConnect

Meet our new joint-space planner, Pro RRTConnect. This planner is deterministic, faster to compute, and generates more efficient paths compared to OMPL planners. Its first release supports both free space and Cartesian path planning, and like all MoveIt planners, is hardware agnostic and collision aware.

Force Compliant Controllers

We have added two real-time controllers for force sensitive tasks: a Joint Trajectory Admittance Controller (JTAC) and a Velocity Force Controller (VFC). The JTAC is great for use cases where object localization is not 100% perfect or when interacting with heavy objects, such as grasping motions and opening doors. The VFC is great for use cases where a particular force needs to be exerted over a trajectory, such as sanding and cutting motions.

Whole Body Control for Mobile Manipulators

Mobile manipulators present a great opportunity to both free manipulators from fixed bases and to improve their reachability. If you have a robot arm on a base which has too many constraints, too few degrees of freedom (DOF), or not enough reachability to perform a task, whole body planning will enable the base to move in coordination with the arm to resolve redundancy and increase reachability.

Navigation Support

Control your AMR or AGV with two new MoveIt Pro Behaviors: NavigateToPoseAction and NavigateThroughPosesAction. These send the robot base to one or more poses using Nav2’s Behavior Trees.

Arm-Centric Visualization Improvements

We’ve added more intuitive 3D grid visualization, streamlined objective lists, and more intelligent error messaging. This makes it easier to identify points of failure in MoveIt motion planning and manipulation.

PLC Interaction with an IO Controller

We have added an Input/Output Controller that enables triggering ROS-enabled binary IO devices, such as activating vacuum grippers or communicating with PLCs, via behaviors.

Built on Open Source

MoveIt Pro fully embraces the ROS 2 ecosystem, including its build system, package management, message format, middleware, etc. MoveIt Pro is also built on MoveIt open source, following the common open core business model, providing commercial grade, premium real time controllers, planners, IK solvers, etc. We continue to maintain MoveIt open source and contribute to other key libraries including core ROS 2, ROS 2 Control, RobotWebTools, and more.

8 posts - 6 participants

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Please come and join us for this coming meeting at 2024-10-07T17:00:00Z UTC→2024-10-07T18:00:00Z UTC, where Kaiyuan Eric Chen will be talking about Enabling Usable and Reliable Cloud Robotics with FogROS2.

Eric is a PhD student in the Department of Computer Sciences at UC Berkeley and a member of Berkeley Automation Lab working closely with Ken Goldberg and Jeffrey Ichnowski. He has been leading the work on FogROS2: a state-of-the-art open source cloud robotics framework that offloads unmodified ROS2 applications to the cloud. He will give a talk overarching the different results obtained with the FogROS2 line of research.

Last meeting, we had a guest talk from Florian Pokorny on CloudGripper, An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale. If you’re interested to see the talk, we have published it on YouTube. The entire meeting recording is also available, but has very little extra video than the guest talk.

If you are willing and able to give a talk on cloud robotics in future meetings, we would be happy to host you - please reply here, message me directly, or sign up using the Guest Speaker Signup Sheet. We will record your talk and host it on Vimeo with our other meeting recordings too!

The meeting link is here, and you can sign up to our calendar or our Google Group for meeting notifications.

Hopefully we will see you there!

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Hi Everyone,

The latest version of Gazebo, Gazebo Ionic, has been released! There are a lot of great features in Ionic that should make life a lot easier for ROS users that use Gazebo. Please see the release announcement for full details.

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Hi,

My name is Viktor, I’m currently writing my masters thesis about camera systems (covering topics like sensors, ISPs, APIs, and usages).

I’m currently writing the chapter on the different APIs that exist (Argus, libcamera, genicam, HAL3), as I’ve not really used these to a very large extent, I’d like to interview people who have.

There won’t be that many questions, I hope not to take much of your time. If you’re interested you can find me in the following way (in addition to here):

irc (https://www.oftc.net/) nick: viktorh
email: please message me for email if you’d prefer that
form: https://forms.gle/9XfB8QkNJQTM9WMv8

• Viktor

3 posts - 2 participants

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ROS News for the Week of September 23rd 2024

This is your final ROSCon 2024 ticket reminder. The last day to purchase regular price ROSCon tickets is Monday 2024-09-30T07:00:00Z UTC. Prices go up after Monday! I believe we have one ROSCon sponsorship slot remaining, if your org would like to snap it up please reach out to us before 2024-10-01T07:00:00Z UTC.

Gazebo Ionic drops on Monday! We’ve released the release illustration and kicked off our swag sale for this release. We’ve also released a 3D model you can download and print at home!

Congratulations to our Japanese colleagues on another successful ROSConJP My understanding is that this was our biggest ROSConJP yet, and I woke up to an absolute storm of amazing social media posts on Tuesday morning.

Check out this cool demo of using your phone and ROS to do robot teleoperation

Congratulations to our friends at PX4 who released v 1.15 this week! They have a bunch of great new tutorials that are taking a look at.

@JM_ROS has released some helpful plots from their ROS executor benchmarks that are worth checking out.

The ROSCon India CFP is now live. Submissions are due 2024-10-31T07:00:00Z UTC.

Events

• 2024-10-03 Interop SIG: Resource Contention in Large Robot Fleets
• 2024-10-04 F1Tenth Race at IROS 2024
• 2024-10-21 → 2024-10-24 ROSCon 2024 in Odense, Denmark
• 2024-10-22 → 2024-10-24 AgRobot FIRA in Sacramento
• 2024-10-24 → 2024-10-25 ROS Industrial Conference EU in Odense
• 2024-10-23 → 2024-10-25 16th International Conference on Social Robotics +AI
• 2024-11-02 → 2024-11-03 ROSCon China in Shenzhen
• 2024-11-6 → 2024-11-7 ROS-Industrial APAC Summit
• – More
• CoRL Workshop on Lifelong Learning in Home Robotics
• 2024-11-22 F1Tenth Learning to Trust Autonomy Workshop at BU
• 2024-12-03 ROSCon Germany
• 2024-12-05 ROSCon India
• 2024-12-16 => 2024-12-19 F1Tenth Sim Racing League at CDC 2024

News

• Gazebo Ionic Swag + 3D Model
• OSRF Interim Policy on GenAI
• Critical Container Escape NVIDIA Bug
• ROSCon BoF: Medical Applications
• ROSCon Bof: Maritime Robotics
• ROSConES Report
• URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images
• GGRt: Towards Pose-free Generalizable 3D Gaussian Splatting in Real-time
• Expressive Whole-Body 3D Gaussian Avatar
• Visual Programming of Offboard Mode with PX4 v1.15
• Robotica: Montreal Robotics Hacker Space
• New ROS Robot in Space
• Autonomous Kia Soul built by students
• ShapeLLM: Universal 3D Object Understanding for Embodied Interaction
• Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction
• Video Friday
• Mendaera brings in $73M to finish developing its handheld robotic device
• Pyka raises $40M for autonomous electric aircraft
• Intel RealSense D421 offers low-cost depth sensing for robots
• Epica raises $18M for industrial, medical robots
• Vsim, founded by Nvidia alums, raises $24M for robotics simulation tech
• Meet Tennibot, the tennis ball Roomba

ROS

• ROS Teleop using Your Phone
• Px4 v 1.15 Release Now Available
• Exporting SolidWorks Design as URDF for ROS
• ROS Executors Benchmarks
• 50 New and 423 Updated Packages for ROS Rolling
• 47 New and 492 Updated Packages for Jazzy
• 3 New and 204 Updated Packages for Iron Irwini
• TurtleNest Package Creator Now in Most Active Distros
• 3D Object Detection and Navigation with YOLOv8 and LIMO Robot
• A collection of ROS 2 Aliases
• A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics
• Best Of Github: ROSConES 2024
• ROS 2: Clients within a Callback
• A tightly coupled and real time LiDAR-Inertial SLAM algorithm. Based upon LIMO-Velo and FAST_LIO projects.
• A ROS 2 stack that contains agents, interfaces and RQT plugins for connecting to CORTEX architecture using a Deep State Representation (DSR) graph.
• RViz Plugins for HRI
• Text2Speech for ROS

Got a Minute?

If you learned something new about ROS this week consider sending us a documentation pull request covering what you learned. The ROS Docs are a community effort, and we could really use your help filling in the gaps in our documentation.

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Hi all,

Since this is my 1st time to get to Denmark, I would like to know about public transportation and taxi/ride apps in Denmark, Odense.

I will be landing in Copenhagen international airport, and then what I should take?

• Google tells me that we can take the train from Copenhagen to Odense? This looks the best option, but do we need to reserve the train or just buy-a-ticket-and-go?
• Is there any recommended ride/taxi app in Odense? seems that they do not have UBER in Denmark?

any information is appreciated, especially from local people!

thanks,
Tomoya

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Hey everyone!

We’ve developed an open-source teleoperation device that lets you control a robot arm using just your phone—no extra hardware or app downloads needed! Just move your phone, and watch the robot gripper mimic your motions in real time.

As part of our imitation learning project, we needed a teleoperation device to enhance our process of gathering demonstrations. We tried keyboard, spacemouse, and freedrive, but it for some use-cases it limited us. This approach utilizes WebXR (specifically ARCore) to fuse RGB and IMU data, allowing us to servo the robot arm in 6 DoF (Degrees of Freedom).

ROS2 Support
The project has built-in support for the ROS 2 cartesian_motion_controller but I guess it should easily adapted for MoveIt Servo.

How It Works?
Python Package: The package starts a web server. Open the web app on your smartphone, and it streams the phone’s position in 3D space (position + orientation). Real-Time Control: We use the phone’s pose data to servo the arm.

We packaged this as an open-source project because we believe it could be valuable to the community.

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Community Page

Meeting Link

Calendar Link

When large fleets of robots need to perform ad hoc tasks that utilize limited resources such as parking spots, (un)loading points, or chargers, operations can get messy if you don’t have a way to resolve conflicts between robots that want to use the same resource at the same time.

At this session of the interoperability special interest group, Arjo Chakravarty will present on the new resource reservation system that is being introduced to Open-RMF. This new system will automatically prevent robots from attempting to use the same resource at the same time, and will also redirect robots to available parking spots where they can wait until the resource that they want becomes available.

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After what I’ve heard was a huge turn out last year - we’re back with another in person event!

21st Oct, Room 208, 5pm

And you might see some medical talks on the schedule, too…

Gonna be a great ROSCon

On behalf of the ROS Medical Community Group: see you there!

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Hello ROS community,

We have created a detailed guide on Exporting SolidWorks Designs as URDF for ROS 1. The documentation starts from installing the URDF export plugin and walks you through each step, covering all the details needed to successfully export your robot model to a URDF file.

You can find the documentation here!

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There is a desire to use generative AI tools as part of producing contributions to OSRF projects. However, we request that developers please refrain from using generative AI tools (such as Chat-GPT, Gemini, and GitHub Copilot) in submissions to OSRF projects, including ROS 2, Gazebo, and Open-RMF. The OSRA Technical Governance Committee has created a Technical Committee to investigate the potential risks with regard to these tools; this TC plans to release a comprehensive formal policy of the OSRF on contributors’ use of Generative AI by the end of 2024.

If you have comments or feedback on this subject please feel free to discuss them in this ROS Discourse thread and we will consider them, along with other relevant opinions (particularly legal), while developing these guidelines.

If you would like to share feedback privately please message @gbiggs (OSRA TGC chair) and @nuclearsandwich (chair of the Technical Committee on Generative AI) on Discourse.

23 posts - 11 participants

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