May 28, 2024
SMACC WG meeting - Wednesday May 29th

Hi everyone, We are planning to hold the next SMACC WG meeting on Wednesday May 29 at 8:30am Pacific Time.

Hope to see you there. We’ll be keeping it informal. Sort of like SMACC office hours.

Calendar link is here…

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by brettpac on May 28, 2024 07:07 AM

May 25, 2024
Client Library WG meeting

After a short break, yesterday (24th May 2024) we had a very interesting meeting of the Client Library Working Group.
We discussed key issues in both the C++ and Python ROS 2 Client Libraries and I hope these will be something that the ROS community will be able to address for the next ROS release.

The next meeting will be in 2 weeks: Friday 7th June 2024 at 8AM Pacific Time.

(Note: we will try to switch between two meeting times to accomodate all the different time zones)

This is the google-group for the Working Group: https://groups.google.com/g/ros-2-client-library-wg
I’ll use it to send email reminders for the meetings.

These are the topics that we discussed, and that I expect will be relevant also for the next meetings.

Changes and improvements to make the ROS 2 C++ executors more performant, deterministic and robust are always welcome.
We need more clarity on the expected behavior of ROS 2 executors and we need to offer users customization opportunities.

We discussed the role of callback groups in the executor design.
A key problem in ROS 2 right now is that loaned messages are disabled due to Honor the user holding onto shared_ptrs during subscription callbacks · Issue #2401 · ros2/rclcpp · GitHub.
We need to fix this problem and work towards making zero-copy message passing the default in ROS 2 (with integration with intra-process comm and a unified API to publish messages).

We discussed two main problems of rclpy performance: the recent executor improvements focused on the C++ client library. The Python library has severe performance issues when subscribing to messages at a high frequency because it rebuilds the waitset of the executor at each iteration.
Sending slow, large, messages also has its problems as the serialization/deserialization approach used by the python client library seems to be extremely slow.

If you are interested in these topics feel free to chime in here or in the related github issues, or join us in the next working group meeting!

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by alsora on May 25, 2024 05:00 PM

May 24, 2024
ROS News for the Week of May 20th, 2024

ROS News for the Week of May 20th, 2024



ROS Jazzy Jalisco is finally here! Read all about it at The Robot Report and the Intrinisc blog or take it for a spin with Jazzy DockerHub images or ROS Docker OCI images including Jazzy. We recommend checking out the improved Gazebo integration or if you are adventurous type, learning about the early preview of RMW Zenoh with @Yadunund.


It is ROSCon CFP season and lots is happening! @fmrico announced ROSCon Spain
this week and @destogl announced ROSCon Germany this week. ROSCon France is just a month away, and we announced our first batch of sponsors for the big ROSCon this October in Odense

:rotating_light: Most importantly talk proposals for ROSCon 2024 and ROSConJP are due on 2024-06-03T07:00:00Z UTC :rotating_light:



Not long ago @smac hung his own shingle for the Nav2 project. In the past few month Steve and the team have made great strides in supporting the project. Nav2 has secured a number of sponsors and this week the project was accepted into Github’s accelerator program.. See Github’s Announcement

Events

News

ROS

Got a minute?

Please help answer a few questions on robotics.stackexchange.com! Please share your knowledge with the broader ROS community.

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by Katherine_Scott on May 24, 2024 07:44 PM

Mobile Aloha customer case: High Five and Open/Close a Cabinet

A customer from China successfully achieved High Five with Mobile Aloha and let it open a cabinet.

Mobile ALOHA: Teaching a Dual-Arm Cobot Awesome Tricks - High-Fives, Bowl Handling & More!

Mobile Aloha is a whole-body remote operation data collection system developed by Zipeng Fu, Tony Z. Zhao, and Chelsea Finn from Stanford University. link.

Based on Mobile Aloha, AgileX developed Cobot Magic, which can achieve the complete code of Mobile Aloha, with higher configurations and lower costs, and is equipped with larger-load robotic arms and high-computing power industrial computers. For more details about Cobot Magic please check the AgileX website .

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by Agilex_Robotics on May 24, 2024 06:59 AM

ROS Jazzy docker images

The ROS Jazzy docker images are now available on Dockerhub ! :whale2:

Simply run this command to download and start a session in a Jazzy container:

docker run -it --rm ros:jazzy

Jazzy being the latest LTS, the latest tag now points to Jazzy images.
This means that the following command will now land you in a jazzy-ros-base container

docker run -it --rm ros

The available tags are

ROS Jazzy images are available for the following platforms/architectures:

Ubuntu Noble:
  amd64
  arm64v8 (aarch64)

GUI images like “desktop_full”

The simulation, desktop and desktop-full images are available on the ‘osrf/ros’ docker hub profile

Meaning you can pull them like this:

docker pull osrf/ros:jazzy-desktop-full

The available tags are

As always:

Happy containing ! :whale: :turtle:

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by marguedas on May 24, 2024 03:17 AM

May 23, 2024
New packages and patch release for Humble Hawksbill 2024-05-23

We’re happy to announce a new Humble release!

This sync brings several new packages and some updates to ROS 2 core packages. (I’m not including the project board here since it doesn’t have anything on it.)


Package Updates for Humble

Added Packages [61]:

  • ros-humble-apriltag-detector-mit: 2.1.0-1
  • ros-humble-apriltag-detector-mit-dbgsym: 2.1.0-1
  • ros-humble-apriltag-detector-umich: 2.1.0-1
  • ros-humble-apriltag-detector-umich-dbgsym: 2.1.0-1
  • ros-humble-apriltag-draw: 2.1.0-1
  • ros-humble-apriltag-draw-dbgsym: 2.1.0-1
  • ros-humble-apriltag-mit: 1.1.2-1
  • ros-humble-apriltag-mit-dbgsym: 1.1.2-1
  • ros-humble-autoware-adapi-v1-msgs: 1.2.1-1
  • ros-humble-autoware-adapi-v1-msgs-dbgsym: 1.2.1-1
  • ros-humble-autoware-adapi-version-msgs: 1.2.1-1
  • ros-humble-autoware-adapi-version-msgs-dbgsym: 1.2.1-1
  • ros-humble-autoware-cmake: 1.0.0-2
  • ros-humble-autoware-lint-common: 1.0.0-2
  • ros-humble-autoware-utils: 1.0.0-1
  • ros-humble-autoware-utils-dbgsym: 1.0.0-1
  • ros-humble-canopen: 0.2.11-2
  • ros-humble-canopen-402-driver: 0.2.11-2
  • ros-humble-canopen-402-driver-dbgsym: 0.2.11-2
  • ros-humble-canopen-base-driver: 0.2.11-2
  • ros-humble-canopen-base-driver-dbgsym: 0.2.11-2
  • ros-humble-canopen-core: 0.2.11-2
  • ros-humble-canopen-core-dbgsym: 0.2.11-2
  • ros-humble-canopen-fake-slaves: 0.2.11-2
  • ros-humble-canopen-fake-slaves-dbgsym: 0.2.11-2
  • ros-humble-canopen-interfaces: 0.2.11-2
  • ros-humble-canopen-interfaces-dbgsym: 0.2.11-2
  • ros-humble-canopen-master-driver: 0.2.11-2
  • ros-humble-canopen-master-driver-dbgsym: 0.2.11-2
  • ros-humble-canopen-proxy-driver: 0.2.11-2
  • ros-humble-canopen-proxy-driver-dbgsym: 0.2.11-2
  • ros-humble-canopen-ros2-control: 0.2.11-2
  • ros-humble-canopen-ros2-control-dbgsym: 0.2.11-2
  • ros-humble-canopen-ros2-controllers: 0.2.11-2
  • ros-humble-canopen-ros2-controllers-dbgsym: 0.2.11-2
  • ros-humble-canopen-tests: 0.2.11-2
  • ros-humble-canopen-utils: 0.2.11-2
  • ros-humble-kuka-agilus-support: 0.9.0-2
  • ros-humble-kuka-cybertech-support: 0.9.0-2
  • ros-humble-kuka-fortec-support: 0.9.0-2
  • ros-humble-kuka-iontec-support: 0.9.0-2
  • ros-humble-kuka-kr-moveit-config: 0.9.0-2
  • ros-humble-kuka-lbr-iisy-moveit-config: 0.9.0-2
  • ros-humble-kuka-lbr-iisy-support: 0.9.0-2
  • ros-humble-kuka-lbr-iiwa-moveit-config: 0.9.0-2
  • ros-humble-kuka-lbr-iiwa-support: 0.9.0-2
  • ros-humble-kuka-mock-hardware-interface: 0.9.0-2
  • ros-humble-kuka-mock-hardware-interface-dbgsym: 0.9.0-2
  • ros-humble-kuka-quantec-support: 0.9.0-2
  • ros-humble-kuka-resources: 0.9.0-2
  • ros-humble-kuka-robot-descriptions: 0.9.0-2
  • ros-humble-lely-core-libraries: 0.2.11-2
  • ros-humble-lely-core-libraries-dbgsym: 0.2.11-2
  • ros-humble-multiple-topic-monitor: 1.0.2-1
  • ros-humble-omni-base-gazebo: 2.0.3-1
  • ros-humble-omni-base-simulation: 2.0.3-1
  • ros-humble-openvdb-vendor: 2.3.2-1
  • ros-humble-openvdb-vendor-dbgsym: 2.3.2-1
  • ros-humble-pal-maps: 0.0.2-1
  • ros-humble-spatio-temporal-voxel-layer: 2.3.2-1
  • ros-humble-spatio-temporal-voxel-layer-dbgsym: 2.3.2-1

Updated Packages [358]:

  • ros-humble-action-tutorials-cpp: 0.20.3-1 → 0.20.4-1
  • ros-humble-action-tutorials-cpp-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-action-tutorials-interfaces: 0.20.3-1 → 0.20.4-1
  • ros-humble-action-tutorials-interfaces-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-action-tutorials-py: 0.20.3-1 → 0.20.4-1
  • ros-humble-ament-clang-format: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-clang-tidy: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-auto: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-clang-format: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-clang-tidy: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-copyright: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-core: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-cppcheck: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-cpplint: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-export-definitions: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-export-dependencies: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-export-include-directories: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-export-interfaces: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-export-libraries: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-export-link-flags: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-export-targets: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-flake8: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-gen-version-h: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-gmock: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-google-benchmark: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-gtest: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-include-directories: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-libraries: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-lint-cmake: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-mypy: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-nose: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-pclint: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-pep257: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-pycodestyle: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-pyflakes: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-pytest: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-python: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-target-dependencies: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-test: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-uncrustify: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cmake-vendor-package: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-version: 1.3.8-1 → 1.3.9-1
  • ros-humble-ament-cmake-xmllint: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-copyright: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cppcheck: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-cpplint: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-flake8: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-lint: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-lint-auto: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-lint-cmake: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-lint-common: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-mypy: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-pclint: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-pep257: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-pycodestyle: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-pyflakes: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-uncrustify: 0.12.10-1 → 0.12.11-1
  • ros-humble-ament-xmllint: 0.12.10-1 → 0.12.11-1
  • ros-humble-apriltag: 3.4.0-1 → 3.4.2-1
  • ros-humble-apriltag-dbgsym: 3.4.0-1 → 3.4.2-1
  • ros-humble-apriltag-detector: 1.1.1-1 → 2.1.0-1
  • ros-humble-aruco: 5.0.4-1 → 5.0.5-1
  • ros-humble-aruco-dbgsym: 5.0.4-1 → 5.0.5-1
  • ros-humble-aruco-msgs: 5.0.4-1 → 5.0.5-1
  • ros-humble-aruco-msgs-dbgsym: 5.0.4-1 → 5.0.5-1
  • ros-humble-aruco-opencv: 2.2.0-1 → 2.3.0-1
  • ros-humble-aruco-opencv-dbgsym: 2.2.0-1 → 2.3.0-1
  • ros-humble-aruco-opencv-msgs: 2.2.0-1 → 2.3.0-1
  • ros-humble-aruco-opencv-msgs-dbgsym: 2.2.0-1 → 2.3.0-1
  • ros-humble-aruco-ros: 5.0.4-1 → 5.0.5-1
  • ros-humble-aruco-ros-dbgsym: 5.0.4-1 → 5.0.5-1
  • ros-humble-behaviortree-cpp: 4.5.1-2 → 4.6.0-1
  • ros-humble-behaviortree-cpp-dbgsym: 4.5.1-2 → 4.6.0-1
  • ros-humble-clearpath-common: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-config: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-control: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-customization: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-description: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-generator-common: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-generator-gz: 0.2.3-1 → 0.2.4-1
  • ros-humble-clearpath-gz: 0.2.3-1 → 0.2.4-1
  • ros-humble-clearpath-mounts-description: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-platform: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-platform-dbgsym: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-platform-description: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-sensors-description: 0.2.7-1 → 0.2.8-1
  • ros-humble-clearpath-simulator: 0.2.3-1 → 0.2.4-1
  • ros-humble-composition: 0.20.3-1 → 0.20.4-1
  • ros-humble-composition-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-control-msgs: 4.4.0-1 → 4.5.0-1
  • ros-humble-control-msgs-dbgsym: 4.4.0-1 → 4.5.0-1
  • ros-humble-controller-interface: 2.40.0-1 → 2.41.0-1
  • ros-humble-controller-interface-dbgsym: 2.40.0-1 → 2.41.0-1
  • ros-humble-controller-manager: 2.40.0-1 → 2.41.0-1
  • ros-humble-controller-manager-dbgsym: 2.40.0-1 → 2.41.0-1
  • ros-humble-controller-manager-msgs: 2.40.0-1 → 2.41.0-1
  • ros-humble-controller-manager-msgs-dbgsym: 2.40.0-1 → 2.41.0-1
  • ros-humble-demo-nodes-cpp: 0.20.3-1 → 0.20.4-1
  • ros-humble-demo-nodes-cpp-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-demo-nodes-cpp-native: 0.20.3-1 → 0.20.4-1
  • ros-humble-demo-nodes-cpp-native-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-demo-nodes-py: 0.20.3-1 → 0.20.4-1
  • ros-humble-dummy-map-server: 0.20.3-1 → 0.20.4-1
  • ros-humble-dummy-map-server-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-dummy-robot-bringup: 0.20.3-1 → 0.20.4-1
  • ros-humble-dummy-sensors: 0.20.3-1 → 0.20.4-1
  • ros-humble-dummy-sensors-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-fastrtps: 2.6.7-1 → 2.6.8-1
  • ros-humble-fastrtps-dbgsym: 2.6.7-1 → 2.6.8-1
  • ros-humble-ffmpeg-image-transport: 1.1.1-1 → 1.1.2-1
  • ros-humble-ffmpeg-image-transport-dbgsym: 1.1.1-1 → 1.1.2-1
  • ros-humble-fields2cover: 1.2.1-3 → 2.0.0-9
  • ros-humble-fields2cover-dbgsym: 1.2.1-3 → 2.0.0-9
  • ros-humble-flir-camera-description: 2.1.15-1 → 2.1.16-1
  • ros-humble-flir-camera-msgs: 2.1.15-1 → 2.1.16-1
  • ros-humble-flir-camera-msgs-dbgsym: 2.1.15-1 → 2.1.16-1
  • ros-humble-gazebo-ros2-control: 0.4.7-1 → 0.4.8-1
  • ros-humble-gazebo-ros2-control-dbgsym: 0.4.7-1 → 0.4.8-1
  • ros-humble-gazebo-ros2-control-demos: 0.4.7-1 → 0.4.8-1
  • ros-humble-gazebo-ros2-control-demos-dbgsym: 0.4.7-1 → 0.4.8-1
  • ros-humble-gps-msgs: 2.0.3-1 → 2.0.4-1
  • ros-humble-gps-msgs-dbgsym: 2.0.3-1 → 2.0.4-1
  • ros-humble-gps-tools: 2.0.3-1 → 2.0.4-1
  • ros-humble-gps-tools-dbgsym: 2.0.3-1 → 2.0.4-1
  • ros-humble-gps-umd: 2.0.3-1 → 2.0.4-1
  • ros-humble-gpsd-client: 2.0.3-1 → 2.0.4-1
  • ros-humble-gpsd-client-dbgsym: 2.0.3-1 → 2.0.4-1
  • ros-humble-hardware-interface: 2.40.0-1 → 2.41.0-1
  • ros-humble-hardware-interface-dbgsym: 2.40.0-1 → 2.41.0-1
  • ros-humble-hardware-interface-testing: 2.40.0-1 → 2.41.0-1
  • ros-humble-hardware-interface-testing-dbgsym: 2.40.0-1 → 2.41.0-1
  • ros-humble-ign-ros2-control: 0.7.7-1 → 0.7.8-1
  • ros-humble-ign-ros2-control-dbgsym: 0.7.7-1 → 0.7.8-1
  • ros-humble-ign-ros2-control-demos: 0.7.7-1 → 0.7.8-1
  • ros-humble-ign-ros2-control-demos-dbgsym: 0.7.7-1 → 0.7.8-1
  • ros-humble-image-tools: 0.20.3-1 → 0.20.4-1
  • ros-humble-image-tools-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-imu-complementary-filter: 2.1.3-1 → 2.1.4-1
  • ros-humble-imu-complementary-filter-dbgsym: 2.1.3-1 → 2.1.4-1
  • ros-humble-imu-filter-madgwick: 2.1.3-1 → 2.1.4-1
  • ros-humble-imu-filter-madgwick-dbgsym: 2.1.3-1 → 2.1.4-1
  • ros-humble-imu-tools: 2.1.3-1 → 2.1.4-1
  • ros-humble-intra-process-demo: 0.20.3-1 → 0.20.4-1
  • ros-humble-intra-process-demo-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-joint-limits: 2.40.0-1 → 2.41.0-1
  • ros-humble-joint-limits-dbgsym: 2.40.0-1 → 2.41.0-1
  • ros-humble-kitti-metrics-eval: 1.0.1-1 → 1.0.4-1
  • ros-humble-kitti-metrics-eval-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-launch: 1.0.5-1 → 1.0.6-1
  • ros-humble-launch-pal: 0.0.18-1 → 0.1.6-1
  • ros-humble-launch-pytest: 1.0.5-1 → 1.0.6-1
  • ros-humble-launch-testing: 1.0.5-1 → 1.0.6-1
  • ros-humble-launch-testing-ament-cmake: 1.0.5-1 → 1.0.6-1
  • ros-humble-launch-xml: 1.0.5-1 → 1.0.6-1
  • ros-humble-launch-yaml: 1.0.5-1 → 1.0.6-1
  • ros-humble-leo: 1.2.1-1 → 1.2.3-1
  • ros-humble-leo-description: 1.2.1-1 → 1.2.3-1
  • ros-humble-leo-gz-bringup: 1.0.0-1 → 1.1.0-1
  • ros-humble-leo-gz-plugins: 1.0.0-1 → 1.1.0-1
  • ros-humble-leo-gz-plugins-dbgsym: 1.0.0-1 → 1.1.0-1
  • ros-humble-leo-gz-worlds: 1.0.0-1 → 1.1.0-1
  • ros-humble-leo-msgs: 1.2.1-1 → 1.2.3-1
  • ros-humble-leo-msgs-dbgsym: 1.2.1-1 → 1.2.3-1
  • ros-humble-leo-simulator: 1.0.0-1 → 1.1.0-1
  • ros-humble-leo-teleop: 1.2.1-1 → 1.2.3-1
  • ros-humble-libcamera: 0.2.0-1 → 0.1.0-1
  • ros-humble-libcurl-vendor: 3.1.1-1 → 3.1.2-1
  • ros-humble-librealsense2: 2.54.1-1 → 2.55.1-1
  • ros-humble-librealsense2-dbgsym: 2.54.1-1 → 2.55.1-1
  • ros-humble-lifecycle: 0.20.3-1 → 0.20.4-1
  • ros-humble-lifecycle-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-lifecycle-py: 0.20.3-1 → 0.20.4-1
  • ros-humble-logging-demo: 0.20.3-1 → 0.20.4-1
  • ros-humble-logging-demo-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-lsc-ros2-driver: 1.0.0-2 → 1.0.2-1
  • ros-humble-lsc-ros2-driver-dbgsym: 1.0.0-2 → 1.0.2-1
  • ros-humble-mcap-vendor: 0.15.9-1 → 0.15.11-1
  • ros-humble-mcap-vendor-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-message-filters: 4.3.3-2 → 4.3.4-1
  • ros-humble-message-filters-dbgsym: 4.3.3-2 → 4.3.4-1
  • ros-humble-mola: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-bridge-ros2: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-bridge-ros2-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-common: 0.3.0-1 → 0.3.1-1
  • ros-humble-mola-demos: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-imu-preintegration: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-imu-preintegration-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-euroc-dataset: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-euroc-dataset-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-kitti-dataset: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-kitti-dataset-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-kitti360-dataset: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-kitti360-dataset-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-mulran-dataset: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-mulran-dataset-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-paris-luco-dataset: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-paris-luco-dataset-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-rawlog: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-rawlog-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-rosbag2: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-input-rosbag2-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-kernel: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-kernel-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-launcher: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-launcher-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-metric-maps: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-metric-maps-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-navstate-fuse: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-navstate-fuse-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-pose-list: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-pose-list-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-relocalization: 1.0.2-1 → 1.0.4-1
  • ros-humble-mola-relocalization-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-humble-mola-test-datasets: 0.3.1-1 → 0.3.2-1
  • ros-humble-mola-traj-tools: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-traj-tools-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-viz: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-viz-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-yaml: 1.0.1-1 → 1.0.4-1
  • ros-humble-mola-yaml-dbgsym: 1.0.1-1 → 1.0.4-1
  • ros-humble-moveit-resources: 2.0.6-1 → 2.0.7-1
  • ros-humble-moveit-resources-fanuc-description: 2.0.6-1 → 2.0.7-1
  • ros-humble-moveit-resources-fanuc-moveit-config: 2.0.6-1 → 2.0.7-1
  • ros-humble-moveit-resources-panda-description: 2.0.6-1 → 2.0.7-1
  • ros-humble-moveit-resources-panda-moveit-config: 2.0.6-1 → 2.0.7-1
  • ros-humble-moveit-resources-pr2-description: 2.0.6-1 → 2.0.7-1
  • ros-humble-mp2p-icp: 1.3.0-1 → 1.4.0-1
  • ros-humble-mp2p-icp-dbgsym: 1.3.0-1 → 1.4.0-1
  • ros-humble-mrpt-path-planning: 0.1.1-1 → 0.1.2-1
  • ros-humble-mrpt-path-planning-dbgsym: 0.1.1-1 → 0.1.2-1
  • ros-humble-mrpt2: 2.12.1-1 → 2.12.2-1
  • ros-humble-mrpt2-dbgsym: 2.12.1-1 → 2.12.2-1
  • ros-humble-mvsim: 0.9.2-1 → 0.9.4-1
  • ros-humble-mvsim-dbgsym: 0.9.2-1 → 0.9.4-1
  • ros-humble-nao-button-sim: 0.1.1-4 → 0.1.2-1
  • ros-humble-nao-command-msgs: 0.0.4-3 → 0.0.5-1
  • ros-humble-nao-command-msgs-dbgsym: 0.0.4-3 → 0.0.5-1
  • ros-humble-nao-sensor-msgs: 0.0.4-3 → 0.0.5-1
  • ros-humble-nao-sensor-msgs-dbgsym: 0.0.4-3 → 0.0.5-1
  • ros-humble-pendulum-control: 0.20.3-1 → 0.20.4-1
  • ros-humble-pendulum-control-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-pendulum-msgs: 0.20.3-1 → 0.20.4-1
  • ros-humble-pendulum-msgs-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-play-motion2: 1.1.0-1 → 1.1.1-1
  • ros-humble-play-motion2-dbgsym: 1.1.0-1 → 1.1.1-1
  • ros-humble-play-motion2-msgs: 1.1.0-1 → 1.1.1-1
  • ros-humble-play-motion2-msgs-dbgsym: 1.1.0-1 → 1.1.1-1
  • ros-humble-quality-of-service-demo-cpp: 0.20.3-1 → 0.20.4-1
  • ros-humble-quality-of-service-demo-cpp-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-quality-of-service-demo-py: 0.20.3-1 → 0.20.4-1
  • ros-humble-rcl: 5.3.7-1 → 5.3.8-1
  • ros-humble-rcl-action: 5.3.7-1 → 5.3.8-1
  • ros-humble-rcl-action-dbgsym: 5.3.7-1 → 5.3.8-1
  • ros-humble-rcl-dbgsym: 5.3.7-1 → 5.3.8-1
  • ros-humble-rcl-lifecycle: 5.3.7-1 → 5.3.8-1
  • ros-humble-rcl-lifecycle-dbgsym: 5.3.7-1 → 5.3.8-1
  • ros-humble-rcl-yaml-param-parser: 5.3.7-1 → 5.3.8-1
  • ros-humble-rcl-yaml-param-parser-dbgsym: 5.3.7-1 → 5.3.8-1
  • ros-humble-rclcpp: 16.0.8-1 → 16.0.9-1
  • ros-humble-rclcpp-action: 16.0.8-1 → 16.0.9-1
  • ros-humble-rclcpp-action-dbgsym: 16.0.8-1 → 16.0.9-1
  • ros-humble-rclcpp-components: 16.0.8-1 → 16.0.9-1
  • ros-humble-rclcpp-components-dbgsym: 16.0.8-1 → 16.0.9-1
  • ros-humble-rclcpp-dbgsym: 16.0.8-1 → 16.0.9-1
  • ros-humble-rclcpp-lifecycle: 16.0.8-1 → 16.0.9-1
  • ros-humble-rclcpp-lifecycle-dbgsym: 16.0.8-1 → 16.0.9-1
  • ros-humble-rclpy: 3.3.12-1 → 3.3.13-1
  • ros-humble-rclpy-message-converter: 2.0.1-1 → 2.0.2-1
  • ros-humble-rclpy-message-converter-msgs: 2.0.1-1 → 2.0.2-1
  • ros-humble-rclpy-message-converter-msgs-dbgsym: 2.0.1-1 → 2.0.2-1
  • ros-humble-rcpputils: 2.4.2-1 → 2.4.3-1
  • ros-humble-rcpputils-dbgsym: 2.4.2-1 → 2.4.3-1
  • ros-humble-rcutils: 5.1.5-1 → 5.1.6-1
  • ros-humble-rcutils-dbgsym: 5.1.5-1 → 5.1.6-1
  • ros-humble-resource-retriever: 3.1.1-1 → 3.1.2-1
  • ros-humble-resource-retriever-dbgsym: 3.1.1-1 → 3.1.2-1
  • ros-humble-rmw: 6.1.1-1 → 6.1.2-1
  • ros-humble-rmw-dbgsym: 6.1.1-1 → 6.1.2-1
  • ros-humble-rmw-implementation: 2.8.2-1 → 2.8.3-1
  • ros-humble-rmw-implementation-cmake: 6.1.1-1 → 6.1.2-1
  • ros-humble-rmw-implementation-dbgsym: 2.8.2-1 → 2.8.3-1
  • ros-humble-robot-localization: 3.5.2-1 → 3.5.3-1
  • ros-humble-robot-localization-dbgsym: 3.5.2-1 → 3.5.3-1
  • ros-humble-ros2-control: 2.40.0-1 → 2.41.0-1
  • ros-humble-ros2-control-test-assets: 2.40.0-1 → 2.41.0-1
  • ros-humble-ros2action: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2bag: 0.15.9-1 → 0.15.11-1
  • ros-humble-ros2cli: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2cli-test-interfaces: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2cli-test-interfaces-dbgsym: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2component: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2controlcli: 2.40.0-1 → 2.41.0-1
  • ros-humble-ros2doctor: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2interface: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2lifecycle: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2lifecycle-test-fixtures: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2lifecycle-test-fixtures-dbgsym: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2multicast: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2node: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2param: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2pkg: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2run: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2service: 0.18.9-1 → 0.18.10-1
  • ros-humble-ros2topic: 0.18.9-1 → 0.18.10-1
  • ros-humble-rosbag2: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-compression: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-compression-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-compression-zstd: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-compression-zstd-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-cpp: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-cpp-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-interfaces: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-interfaces-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-performance-benchmarking: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-py: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-storage: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-storage-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-storage-default-plugins: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-storage-default-plugins-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-storage-mcap: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-storage-mcap-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-storage-mcap-testdata: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-storage-mcap-testdata-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-test-common: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-tests: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-transport: 0.15.9-1 → 0.15.11-1
  • ros-humble-rosbag2-transport-dbgsym: 0.15.9-1 → 0.15.11-1
  • ros-humble-rqt-bag: 1.1.4-1 → 1.1.5-1
  • ros-humble-rqt-bag-plugins: 1.1.4-1 → 1.1.5-1
  • ros-humble-rqt-controller-manager: 2.40.0-1 → 2.41.0-1
  • ros-humble-rqt-graph: 1.3.0-1 → 1.3.1-1
  • ros-humble-rqt-robot-monitor: 1.0.5-2 → 1.0.6-1
  • ros-humble-rviz-imu-plugin: 2.1.3-1 → 2.1.4-1
  • ros-humble-rviz-imu-plugin-dbgsym: 2.1.3-1 → 2.1.4-1
  • ros-humble-shared-queues-vendor: 0.15.9-1 → 0.15.11-1
  • ros-humble-spinnaker-camera-driver: 2.1.15-1 → 2.1.16-1
  • ros-humble-spinnaker-camera-driver-dbgsym: 2.1.15-1 → 2.1.16-1
  • ros-humble-spinnaker-synchronized-camera-driver: 2.1.15-1 → 2.1.16-1
  • ros-humble-spinnaker-synchronized-camera-driver-dbgsym: 2.1.15-1 → 2.1.16-1
  • ros-humble-sqlite3-vendor: 0.15.9-1 → 0.15.11-1
  • ros-humble-sros2: 0.10.4-2 → 0.10.5-1
  • ros-humble-sros2-cmake: 0.10.4-2 → 0.10.5-1
  • ros-humble-tinyspline-vendor: 0.6.0-2 → 0.6.1-1
  • ros-humble-tinyspline-vendor-dbgsym: 0.6.0-2 → 0.6.1-1
  • ros-humble-topic-monitor: 0.20.3-1 → 0.20.4-1
  • ros-humble-topic-statistics-demo: 0.20.3-1 → 0.20.4-1
  • ros-humble-topic-statistics-demo-dbgsym: 0.20.3-1 → 0.20.4-1
  • ros-humble-transmission-interface: 2.40.0-1 → 2.41.0-1
  • ros-humble-transmission-interface-dbgsym: 2.40.0-1 → 2.41.0-1
  • ros-humble-unitree-ros: 1.1.0-1 → 1.1.1-1
  • ros-humble-unitree-ros-dbgsym: 1.1.0-1 → 1.1.1-1
  • ros-humble-ur-description: 2.1.4-1 → 2.1.5-1
  • ros-humble-usb-cam: 0.8.0-1 → 0.8.1-1
  • ros-humble-usb-cam-dbgsym: 0.8.0-1 → 0.8.1-1
  • ros-humble-zbar-ros: 0.4.0-2 → 0.4.1-1
  • ros-humble-zbar-ros-dbgsym: 0.4.0-2 → 0.4.1-1
  • ros-humble-zstd-vendor: 0.15.9-1 → 0.15.11-1

Removed Packages [4]:

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:

  • Aditya Pande
  • Alejandro Hernandez Cordero
  • Antonio Brandi
  • Arne Hitzmann
  • Aron Svastits
  • Audrow Nash
  • Autonics-lidar
  • Bence Magyar
  • Bernd Pfrommer
  • Chris Lalancette
  • Christian Rauch
  • Christoph Hellmann Santos
  • Daisuke Nishimatsu
  • Dave Coleman
  • Davide Faconti
  • Denis Stogl
  • Ethan Gao
  • Evan Flynn
  • Felix Exner
  • Fictionlab
  • Foxglove
  • Gonzalo Mier
  • Ivan Paunovic
  • Jordan Palacios
  • Jose-Luis Blanco-Claraco
  • LibRealSense ROS Team
  • Lovro Ivanov
  • Luis Camero
  • Mabel Zhang
  • Martin Günther
  • Max Krogius
  • Michael Jeronimo
  • Michael Orlov
  • Miguel Company
  • Mike Lautman
  • MoveIt Release Team
  • Noel Jimenez
  • Pedro Soares
  • ROS Security Working Group
  • Ryohsuke Mitsudome
  • Sai Kishor Kothakota
  • Shane Loretz
  • Southwest Research Institute
  • Steve Macenski
  • Takagi, Isamu
  • Tim Clephas
  • Tom Moore
  • Yue Erro
  • Yukihiro Saito
  • ijnek

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by audrow on May 23, 2024 07:11 PM

ROS 2 Jazzy Jalisco Released!

Happy World Turtle Day! Today the ROS 2 Release Team is happy to announce the tenth release of ROS 2: Jazzy Jalisco (codenamed jazzy).

In addition to the official logo shared previously, we also have a new Jazzy Jalisco turtlesim icon.

Jazzy Jalisco is a long term support (LTS) release that will be supported until May 2029. The distribution is primarily supported on the following platforms:

Tier 1 platforms:

  • Ubuntu 24.04 (Noble): amd64 and arm64
  • Windows 10 (Visual Studio 2019): amd64

Tier 2 platforms:

  • RHEL 9: amd64

Tier 3 platforms:

  • macOS: amd64
  • Debian Bookworm: amd64

For more information about RMW implementations, compiler/interpreter versions, and system dependency versions see REP 2000.

If you are new to ROS, we recommend trying Jazzy Jalisco on a Tier 1 supported platform. Check the installation instructions and tutorials on docs.ros.org, and give Jazzy a spin! Should you run into any difficulties, please ask a question on ROS Stack Exchange. Also, a quick reminder, our Jazzy T-shirt and swag campaign is still live! You can still grab all the cool merch if you want to support the release. All proceeds help support the Open Source Robotics Foundation (OSRF).

New Features and Enhancements

Jazzy Jalisco is feature packed and full of improvements! If you want the gritty details feel free to peruse the release notes and changelog for core ROS 2 packages. We’ve summarized a few new features we’ll think you’ll love below:

Easier Gazebo Integration (click for more details) ROS Command Line Interface Improvements (click for more details) ROSBag Improvements (click for more details) RViz2 (click for more details) Miscellaneous Improvements of Note (click for more details)

A Community Effort

ROS 2 is truly a community effort, and this could not have been better exemplified by our public beta testing 3 of Jazzy Jalisco over the past few weeks. Almost 400 test cases were put through the ringer with several improvements identified along the way. It really helped “harden” the Jazzy distribution. The release team would like to extend a heartfelt thank you to all testers. For our top twenty testers you should get an e-mail in your inbox with a swag coupon code sometime later next week. A full list of our testers and the number of issues they tested:

See list of testers (click for more details)

Thanks to the 211 contributors who contributed to this release through code changes, documentation, and testing.

See full list of contributors (click for more details)

ROS wouldn’t exist if it weren’t for all of our wonderful package maintainers. We’ve asked all of the package maintainers who plan to have their code ready for release today, or soon, to prepare “Jazzy jives”. In the comments below they’ll be posting brief updates about all of the new features they are bringing to Jazzy for their packages.

Preview: Zenoh RMW! (click for more details)

Finally, we’d like to announce the name of the next ROS 2 release for May 2025:

:partying_face: Kilted Kaiju :partying_face:

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by marcogg on May 23, 2024 02:29 PM

May 21, 2024
ROSCon 2024 Sponsors + CFP Reminder

ROSCon 2024

Hi everyone, a quick update on ROSCon 2024 in Odense, Denmark. I just posted an update to the website that includes our first batch of ROSCon sponsors. In the next few weeks we plan to announce our 2024 workshop schedule and open up registration. Most importantly, there’s less than two weeks remaining to submit your ROSCon 2024 talk proposals, they are due 2024-06-03T07:00:00Z UTC.

Sponsorship

The generous support of our sponsors makes ROSCon possible! I am happy to announce that we have closed our first batch of sponsorships for ROSCon 2024. We had an overwhelming demonstration of support from our community for ROSCon 2024. If your organization is interested in sponsoring ROSCon there are still some sponsorship options available. You can find all the details in the ROSCon 2024 prospectus, or by simply e-mailing us at roscon-2024-ec@openrobotics.org.

:tada: Now, without further ado, here are your ROSCon 2024 sponsors:

Platinum Sponsor

Gold Sponsors

Silver Sponsors

Bronze Sponsors

Startup Alley Sponsors

Video Archive and Live Stream Sponsor

Diversity Scholarship Sponsors

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by Katherine_Scott on May 21, 2024 06:52 PM

May 20, 2024
Upcoming freeze for Jazzy in preparation for release

Hello everyone!

As we approach Jazzy release day we are proceeding to freeze all jazzy branches on all ROS 2 base packages. We are also pausing the merge of any PRs into rosdistro that target jazzy/distribution.yaml. Kind request to all base package maintainers to enforce the freeze after today by no longer merging any changes into jazzy until further notice.

Once the release is announced, we will unfreeze jazzy so that PRs can be merged in once again. Stay tuned for that announcement on Discourse.

You may find more information on the Jazzy Jalisco release timeline here: ROS 2 Jazzy Jalisco (codename ‘jazzy’; May, 2024) .

Note: We will continue to merge PRs that target other distros.

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by marcogg on May 20, 2024 01:22 PM

May 17, 2024
Robotic Blending Milestone 5 Wraps Up on the Foundry Shop Floor

On March 7, 2024, the Robotic Blending Milestone 5 team convened in West Jefferson, Ohio, at Fisher Cast Steel to see a demonstration of a Scan-N-Plan framework, optimized for a foundry system, that has an operational goal of grinding riser and gate surface anomalies to finished surface tolerances. The idea is to provide a system that is operator-driven and requires no interaction with the traditional robotic teach pendant. Through the use of intuitive user interfaces, the system should be able to work from simple operator cues to process parts to their desired finish state.

Workflow including Isu developed capability

Launched in March 2023, the program was built around a team that included sponsor Steel Founders’ Society of America (SFSA), Iowa State University (ISU), Yaskawa Motoman, PushCorp and Southwest Research Institute (SwRI). The program would leverage legacy ROS-Industrial Scan-N-Plan developments over the course of prior Focused Technical Projects (FTP) developed via the ROS-Industrial Consortium, as well as university developed capabilities at ISU, funded previously by SFSA. The combined capability may be seen in the below graphic.

The program held workshops and integration events at multiple team member sites. The first was a process development workshop hosted by PushCorp in their process development lab in Garland, Texas. Fisher Cast Steel provided samples for each team to utilize for testing and PushCorp provided guidance on how best to set up their spindle and active compliance device.

From there a starting system, with minimal Scan-N-Plan framework was instantiated in the lab at SwRI. This was largely based on the Scan-N-Plan Workshop which has been the basis for some of the recent trainings relative to industrial reconstruction and motion planning pipeline tuning.

Process development at pushcorp

From this point after a virtual demonstration in the SwRI lab, work got going in the Iowa State lab. ISU had installed a robust Kawasaki industrial robot with a similar but different PushCorp active compliance/spindle combination. One of the goals of this program was to create the same software implementations at each site on their specific configurations. This would enable ISU to develop add-on capabilities and test them in their lab and then update the main application to enable incorporation into the end user foundry site for evaluation and use. The software framework for the program and the modules to be updated and contributed by ISU are pictured below.

ISU hosted an integration event and the team worked together to assist ISU in updating their prior work from ROS Kinetic to ROS 2 Humble. Also, there were numerous working sessions to get a reliable ROS 2 driver and on robot interface for the PushCorp hardware working on their system. By the time the demonstration came around at ISU they had a working Scan-N-Plan system and had gotten tool path planning, and new concepts for approaches for grinding stone media working. This would end up being the prime path moving forward relative to the target castings for the program.

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Though we did not get all the ISU capability incorporated, the team continued to work on the ISU segmentation approach and the program at ISU continues to work and test a more recent version. The participation of the students highlighted the opportunity for collaboration of grad school programs with more seasoned programmers to establish the foundational tools needed to enable students to come up to speed on complex ROS-based systems and how to sustain the talent pipeline.

Finally, the Yaskawa Motoman team completed their build and integration activities. The team came together quickly at Fisher Cast Steel to get the system ready for ROS-based capability deployment. Safety issues were resolved and cable management and PushCorp equipment integration was further optimized. Once the system was ready, the SwRI team deployed to the industrial PC via developed Docker images the full application, executed camera calibration and started initial testing.

By the mid-point of the second week the system was regularly grinding castings. It became evident that process optimization and development would be required. Due to the human-drawn boundary segmentation not being ready, the user selects a region of interest to do the grinding on the UI by simply circling it on the reconstruction in the view. The industrial reconstruction provides nice contrast and human markings show up clearly to assist in the process.

The full team convened for the demonstration on March 7, 2024. A number of features were processed, and the system demonstrated, even with region selection from the GUI to efficiently process only within the region of interest. There have been several areas for improvement identified, but the team felt a lot was learned and the system can deliver value. Fisher Cast Steel has since done a number of process enhancements and continues to improve system performance while also training operators to run the system independently. A number of enhancements to the open source Scan-N-Plan_workshop have been pushed and a blog post details those improvements in detail. A highlight video of the program is slated for later release.

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Mid Point Progress on Part.png
Tool Paths Planned.png
Almost Flush.png
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Grinding on Part.png

Thanks to the full team for their work on realizing this capability at Fisher Cast Steel. This program highlights the value of bringing university partners together with robotic system deployers and solution providers along with sound software practices to realize compelling capability and provide pathways for funded university research to get more efficiently into operational environments. Thanks to the program sponsor Steel Founders’ Society of America for being the champion for this program and thanks to Fisher Cast Steel for their continued enthusiasm and feedback to continue to improve the delivered system which will further benefit others down the road.

Disclaimer: The publication of this material does not constitute approval by the government of the findings or conclusion herein. Wide distribution or announcement of this material shall not be made without specific approval by the sponsoring government activity.

Acknowledgement: This research is sponsored by the DLA-Troop Support, Philadelphia, PA and the Defense Logistics Agency Information Operations, J68, Research & Development, Ft. Belvoir, VA.

by Matthew Robinson on May 17, 2024 07:46 PM

New Packages for Iron Irwini 2024-05-17

We’re happy to announce 13 new packages and 194 updates are now available in ROS 2 Iron Irwini :iron: :irwini: . This sync was tagged as iron/2024-05-17 .

Package Updates for iron

Added Packages [13]:

  • ros-iron-apriltag-detector-mit: 2.2.0-1
  • ros-iron-apriltag-detector-mit-dbgsym: 2.2.0-1
  • ros-iron-apriltag-detector-umich: 2.2.0-1
  • ros-iron-apriltag-detector-umich-dbgsym: 2.2.0-1
  • ros-iron-apriltag-draw: 2.2.0-1
  • ros-iron-apriltag-draw-dbgsym: 2.2.0-1
  • ros-iron-apriltag-mit: 1.2.2-1
  • ros-iron-apriltag-mit-dbgsym: 1.2.2-1
  • ros-iron-leo-gz-bringup: 1.1.0-1
  • ros-iron-leo-gz-plugins: 1.1.0-1
  • ros-iron-leo-gz-plugins-dbgsym: 1.1.0-1
  • ros-iron-leo-gz-worlds: 1.1.0-1
  • ros-iron-leo-simulator: 1.1.0-1

Updated Packages [194]:

  • ros-iron-ackermann-steering-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-ackermann-steering-controller-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-admittance-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-admittance-controller-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-apriltag-detector: 1.2.1-1 → 2.2.0-1
  • ros-iron-aruco-opencv: 5.1.0-1 → 5.2.0-1
  • ros-iron-aruco-opencv-dbgsym: 5.1.0-1 → 5.2.0-1
  • ros-iron-aruco-opencv-msgs: 5.1.0-1 → 5.2.0-1
  • ros-iron-aruco-opencv-msgs-dbgsym: 5.1.0-1 → 5.2.0-1
  • ros-iron-behaviortree-cpp: 4.5.1-2 → 4.6.0-1
  • ros-iron-behaviortree-cpp-dbgsym: 4.5.1-2 → 4.6.0-1
  • ros-iron-bicycle-steering-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-bicycle-steering-controller-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-controller-interface: 3.24.0-1 → 3.25.0-1
  • ros-iron-controller-interface-dbgsym: 3.24.0-1 → 3.25.0-1
  • ros-iron-controller-manager: 3.24.0-1 → 3.25.0-1
  • ros-iron-controller-manager-dbgsym: 3.24.0-1 → 3.25.0-1
  • ros-iron-controller-manager-msgs: 3.24.0-1 → 3.25.0-1
  • ros-iron-controller-manager-msgs-dbgsym: 3.24.0-1 → 3.25.0-1
  • ros-iron-diff-drive-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-diff-drive-controller-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-dynamixel-hardware: 0.3.1-4 → 0.4.0-1
  • ros-iron-dynamixel-hardware-dbgsym: 0.3.1-4 → 0.4.0-1
  • ros-iron-effort-controllers: 3.22.0-1 → 3.24.0-1
  • ros-iron-effort-controllers-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-fields2cover: 1.2.1-3 → 2.0.0-10
  • ros-iron-fields2cover-dbgsym: 1.2.1-3 → 2.0.0-10
  • ros-iron-flexbe-behavior-engine: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-core: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-input: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-mirror: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-msgs: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-msgs-dbgsym: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-onboard: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-states: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-testing: 2.3.3-1 → 3.0.0-1
  • ros-iron-flexbe-widget: 2.3.3-1 → 3.0.0-1
  • ros-iron-flir-camera-description: 2.2.15-1 → 2.2.16-1
  • ros-iron-flir-camera-msgs: 2.2.15-1 → 2.2.16-1
  • ros-iron-flir-camera-msgs-dbgsym: 2.2.15-1 → 2.2.16-1
  • ros-iron-force-torque-sensor-broadcaster: 3.22.0-1 → 3.24.0-1
  • ros-iron-force-torque-sensor-broadcaster-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-forward-command-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-forward-command-controller-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-fuse: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-constraints: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-constraints-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-core: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-core-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-doc: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-graphs: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-graphs-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-loss: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-loss-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-models: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-models-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-msgs: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-msgs-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-optimizers: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-optimizers-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-publishers: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-publishers-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-tutorials: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-tutorials-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-variables: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-variables-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-viz: 1.0.1-3 → 1.0.1-4
  • ros-iron-fuse-viz-dbgsym: 1.0.1-3 → 1.0.1-4
  • ros-iron-gps-msgs: 2.0.3-1 → 2.0.4-1
  • ros-iron-gps-msgs-dbgsym: 2.0.3-1 → 2.0.4-1
  • ros-iron-gps-tools: 2.0.3-1 → 2.0.4-1
  • ros-iron-gps-tools-dbgsym: 2.0.3-1 → 2.0.4-1
  • ros-iron-gps-umd: 2.0.3-1 → 2.0.4-1
  • ros-iron-gpsd-client: 2.0.3-1 → 2.0.4-1
  • ros-iron-gpsd-client-dbgsym: 2.0.3-1 → 2.0.4-1
  • ros-iron-gripper-controllers: 3.22.0-1 → 3.24.0-1
  • ros-iron-gripper-controllers-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-hardware-interface: 3.24.0-1 → 3.25.0-1
  • ros-iron-hardware-interface-dbgsym: 3.24.0-1 → 3.25.0-1
  • ros-iron-hardware-interface-testing: 3.24.0-1 → 3.25.0-1
  • ros-iron-hardware-interface-testing-dbgsym: 3.24.0-1 → 3.25.0-1
  • ros-iron-imu-complementary-filter: 2.1.3-3 → 2.1.4-1
  • ros-iron-imu-complementary-filter-dbgsym: 2.1.3-3 → 2.1.4-1
  • ros-iron-imu-filter-madgwick: 2.1.3-3 → 2.1.4-1
  • ros-iron-imu-filter-madgwick-dbgsym: 2.1.3-3 → 2.1.4-1
  • ros-iron-imu-sensor-broadcaster: 3.22.0-1 → 3.24.0-1
  • ros-iron-imu-sensor-broadcaster-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-imu-tools: 2.1.3-3 → 2.1.4-1
  • ros-iron-joint-limits: 3.24.0-1 → 3.25.0-1
  • ros-iron-joint-state-broadcaster: 3.22.0-1 → 3.24.0-1
  • ros-iron-joint-state-broadcaster-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-joint-trajectory-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-joint-trajectory-controller-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-kitti-metrics-eval: 1.0.2-1 → 1.0.4-1
  • ros-iron-kitti-metrics-eval-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-leo: 2.0.1-1 → 2.0.3-1
  • ros-iron-leo-description: 2.0.1-1 → 2.0.3-1
  • ros-iron-leo-msgs: 2.0.1-1 → 2.0.3-1
  • ros-iron-leo-msgs-dbgsym: 2.0.1-1 → 2.0.3-1
  • ros-iron-leo-teleop: 2.0.1-1 → 2.0.3-1
  • ros-iron-librealsense2: 2.54.1-2 → 2.55.1-1
  • ros-iron-librealsense2-dbgsym: 2.54.1-2 → 2.55.1-1
  • ros-iron-mola: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-bridge-ros2: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-bridge-ros2-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-common: 0.3.0-1 → 0.3.1-1
  • ros-iron-mola-demos: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-imu-preintegration: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-imu-preintegration-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-euroc-dataset: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-euroc-dataset-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-kitti-dataset: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-kitti-dataset-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-kitti360-dataset: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-kitti360-dataset-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-mulran-dataset: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-mulran-dataset-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-paris-luco-dataset: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-paris-luco-dataset-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-rawlog: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-rawlog-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-rosbag2: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-input-rosbag2-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-kernel: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-kernel-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-launcher: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-launcher-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-metric-maps: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-metric-maps-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-navstate-fuse: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-navstate-fuse-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-pose-list: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-pose-list-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-relocalization: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-relocalization-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-test-datasets: 0.3.1-1 → 0.3.2-1
  • ros-iron-mola-traj-tools: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-traj-tools-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-viz: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-viz-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-yaml: 1.0.2-1 → 1.0.4-1
  • ros-iron-mola-yaml-dbgsym: 1.0.2-1 → 1.0.4-1
  • ros-iron-mp2p-icp: 1.3.2-1 → 1.4.0-1
  • ros-iron-mp2p-icp-dbgsym: 1.3.2-1 → 1.4.0-1
  • ros-iron-mrpt-path-planning: 0.1.1-1 → 0.1.2-1
  • ros-iron-mrpt-path-planning-dbgsym: 0.1.1-1 → 0.1.2-1
  • ros-iron-mrpt2: 2.12.1-1 → 2.12.2-1
  • ros-iron-mrpt2-dbgsym: 2.12.1-1 → 2.12.2-1
  • ros-iron-mvsim: 0.9.2-1 → 0.9.4-1
  • ros-iron-mvsim-dbgsym: 0.9.2-1 → 0.9.4-1
  • ros-iron-nao-button-sim: 0.1.1-5 → 0.2.0-1
  • ros-iron-nao-command-msgs: 0.0.4-4 → 0.1.0-1
  • ros-iron-nao-command-msgs-dbgsym: 0.0.4-4 → 0.1.0-1
  • ros-iron-nao-sensor-msgs: 0.0.4-4 → 0.1.0-1
  • ros-iron-nao-sensor-msgs-dbgsym: 0.0.4-4 → 0.1.0-1
  • ros-iron-position-controllers: 3.22.0-1 → 3.24.0-1
  • ros-iron-position-controllers-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-range-sensor-broadcaster: 3.22.0-1 → 3.24.0-1
  • ros-iron-range-sensor-broadcaster-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-rclpy-message-converter: 2.0.1-3 → 2.0.2-1
  • ros-iron-rclpy-message-converter-msgs: 2.0.1-3 → 2.0.2-1
  • ros-iron-rclpy-message-converter-msgs-dbgsym: 2.0.1-3 → 2.0.2-1
  • ros-iron-ros2-control: 3.24.0-1 → 3.25.0-1
  • ros-iron-ros2-control-test-assets: 3.24.0-1 → 3.25.0-1
  • ros-iron-ros2-controllers: 3.22.0-1 → 3.24.0-1
  • ros-iron-ros2-controllers-test-nodes: 3.22.0-1 → 3.24.0-1
  • ros-iron-ros2controlcli: 3.24.0-1 → 3.25.0-1
  • ros-iron-rqt-controller-manager: 3.24.0-1 → 3.25.0-1
  • ros-iron-rqt-joint-trajectory-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-rviz-imu-plugin: 2.1.3-3 → 2.1.4-1
  • ros-iron-rviz-imu-plugin-dbgsym: 2.1.3-3 → 2.1.4-1
  • ros-iron-spinnaker-camera-driver: 2.2.15-1 → 2.2.16-1
  • ros-iron-spinnaker-camera-driver-dbgsym: 2.2.15-1 → 2.2.16-1
  • ros-iron-spinnaker-synchronized-camera-driver: 2.2.15-1 → 2.2.16-1
  • ros-iron-spinnaker-synchronized-camera-driver-dbgsym: 2.2.15-1 → 2.2.16-1
  • ros-iron-steering-controllers-library: 3.22.0-1 → 3.24.0-1
  • ros-iron-steering-controllers-library-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-tinyspline-vendor: 0.6.0-4 → 0.6.1-1
  • ros-iron-tinyspline-vendor-dbgsym: 0.6.0-4 → 0.6.1-1
  • ros-iron-transmission-interface: 3.24.0-1 → 3.25.0-1
  • ros-iron-transmission-interface-dbgsym: 3.24.0-1 → 3.25.0-1
  • ros-iron-tricycle-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-tricycle-controller-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-tricycle-steering-controller: 3.22.0-1 → 3.24.0-1
  • ros-iron-tricycle-steering-controller-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-unitree-ros: 1.1.0-1 → 1.1.1-1
  • ros-iron-unitree-ros-dbgsym: 1.1.0-1 → 1.1.1-1
  • ros-iron-ur-description: 2.1.4-1 → 2.3.0-1
  • ros-iron-usb-cam: 0.8.0-1 → 0.8.1-1
  • ros-iron-usb-cam-dbgsym: 0.8.0-1 → 0.8.1-1
  • ros-iron-velocity-controllers: 3.22.0-1 → 3.24.0-1
  • ros-iron-velocity-controllers-dbgsym: 3.22.0-1 → 3.24.0-1
  • ros-iron-zbar-ros: 0.4.0-3 → 0.5.1-1
  • ros-iron-zbar-ros-dbgsym: 0.4.0-3 → 0.5.1-1

Removed Packages [1]:

  • ros-iron-apriltag-detector-dbgsym

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:

  • Bence Magyar
  • Bernd Pfrommer
  • Daisuke Nishimatsu
  • Davide Faconti
  • Denis Štogl
  • Enrique Fernandez
  • Evan Flynn
  • Felix Exner
  • Fictionlab
  • Gonzalo Mier
  • Jose-Luis Blanco-Claraco
  • LibRealSense ROS Team
  • Luis Camero
  • Martin Günther
  • Pedro Soares
  • Philipp Schillinger
  • Southwest Research Institute
  • Stephen Williams
  • Tom Moore
  • Yutaka Kondo
  • ijnek

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by Yadunund on May 17, 2024 06:14 PM

ROS News for the Week of May 13th, 2024

ROS News of the Week of May 13th, 2024



We wrapped up the Jazzy Test and Tutorial Party this week and everyone is diligently working towards the Jazzy release next week. We’re asking all ROS package maintainers who plan to release their package with Jazzy or soon thereafter to prepare a “Jazzy Jive” for release day.


image
ICRA 2024 was this week in Yokohama, Japan. It feels like the on-line world of robotics has slowed to a crawl while people meet in real life. IEEE Spectrum has a great round up of videos from ICRA.



Last night was our ROS Meetup in Pittsburgh at Gecko Robotics. I was really impressed with their office, testing equipment, and overall business model. Apparently I am not the only one.



Pick up some Jazzy swag at spring.ros.org!

Events

News

ROS

Got a minute?

Why not help out your fellow ROS developers by answering a questions on robotics.stackexchange.com.

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by Katherine_Scott on May 17, 2024 05:20 PM

Mobile Aloha: AgileX achieves two-arm collaborative tasks based on Mobile Aloha

Showcase: AgileX achieves two-arm collaborative tasks based on Mobile Aloha

Mobile Aloha is a whole-body remote operation data collection system developed by Zipeng Fu, Tony Z. Zhao, and Chelsea Finn from Stanford University. link.

Based on Mobile Aloha, AgileX developed Cobot Magic, which can achieve the complete code of Mobile Aloha, with higher configurations and lower costs, and is equipped with larger-load robotic arms and high-computing power industrial computers. For more details about Cobot Magic please check the AgileX website .

In previous projects, AgileX successfully implemented the entire process of data collection, data replay, model inference and reproduction for the single-arm gripping task based on Mobile Aloha. Now AgileX collects more and more complex data and achieves the entire reasoning process of the dual-arm long sequence multi-target gripping task.

Task description

The task can be described as:
First, stretch out the right arm, pick up the black block from the table, and then place the black block on the horizontally placed box in the center of the table. Then place the right robotic arm back, and at the same time stretch out the left robotic arm, pick up the red block from the table, and place it on the central box on the desktop. Finally, put the left arm back in its original place.
inference

Compared with the previous tasks, the difficulty of this task has been upgraded: from the original short sequence to a long sequence task. Upgrading from a single robotic arm mission to a dual robotic arm mission. The target of clamping also changes from single to multiple.

Data Collection

In this task, the Orbbec DaBai camera is used to collect at a frequency of 30HZ, and contains 50 sets of acquisition data, and each set of data is collected at a fixed step size. Camera data contains color images, depth images, and point cloud information. The data collection platform is equipped with 2 master arms and 2 follower/puppet arms.
data collection

Data Replay

The data replay script loads and reads the collected joint data and reproduces it as it is.
重播

Inference

Aloha is implemented based on the ACT (Action Chunking with Transformers) algorithm model. See the figure below for the specific model

Perform model training and inference. Pick up the black block correctly with your right arm and place it on the middle box of the table. The left arm also successfully picked up and placed the red block.
inference

inference(拿动)

The black and red blocks were manually placed back from the central box on the table. The robotic arm still recognized that the object on the box had been removed and successfully completed the task again: the right and left arms respectively picked up the black and red blocks and placed them back on the central box on the table.

Generation

Add interference to the original data set task actions to test the generalization ability of the model.
After the left arm finished a whole task and went back to the initial place, the red black on the central box was then manually removed and placed back on the table. The right arm detected that the black block didn’t change its position, so no picking action was performed. The left arm found that the red bolck was removed, so picked it onto the central box.
inference2(拿动)

Summary

In this case, AgileX successfully achieved the entire process of data collection, model training and inference, and generalization ability verification for a two-arm multi-target grasping task based on Mobile Aloha. AgileX will continue to collect more scenes and more complex tasks, so please stay tuned.

About AgileX

Established in 2016, AgileX Robotics is a leading manufacturer of mobile robot platforms and a provider of unmanned system solutions. The company specializes in independently developed multi-mode wheeled and tracked wire-controlled chassis technology and has obtained multiple international certifications. AgileX Robotics offers users self-developed innovative application solutions such as autonomous driving, mobile grasping, and navigation positioning, helping users in various industries achieve automation. Additionally, AgileX Robotics has introduced research and education software and hardware products related to machine learning, embodied intelligence, and visual algorithms. The company works closely with research and educational institutions to promote robotics technology teaching and innovation.

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by Agilex_Robotics on May 17, 2024 07:44 AM

May 16, 2024
:saxophone: Jazzy Package Maintainers: It is time to write your Jazzy Jives

Time to Write Your Jazzy Jives



Attention Package Maintainers:

As I am sure you are aware, the Jazzy Jalisco release is a week away. I was just reviewing the release notes for Jazzy and there are a lot of great new features to get excited about. Everyone should be proud of all we’ve accomplished in the past year!

After a few discussions with the ROS Boss @marcogg and the team we decided we wanted to repeat the “Humble Brags”, and “Iron Flexes” the community has created in previous years. Instead of just posting the release notes for the core ROS libraries, we also want to have the release post highlight all of the packages that make ROS such a wonderful community. This year we’re going to call these “Jazzy Jives” just to be cheeky and keep with the naming convention.

If you are a package maintainer and you plan to have your Iron package ready for release day, or soon thereafter, we would love it if you could put together a brief set of release notes about your package. Our end goal is for the Jazzy release post to showcase not just the core ROS features, but also the recent updates for the entire ROS community. We want to show the world why it is time to switch to ROS 2, and why Jazzy is our best ROS distro yet.

A good set of release notes should include:

  • A brief description of your package and what it does.
  • The new features, improvements, and bug-fixes in your package.
  • A list of the people who made your Iron release possibleime to write your Jazzy Jives
  • Action shots of your package doing its thing, or any other recent accomplishments you are proud of.
  • Once you have your post ready, just wait for the main Jazzy release announcement here on Discourse (hopefully it should happen before 2024-05-24T00:00:00Z UTC).

Our hope is that the Jazzy release Discourse thread will read like an outline of all the new features and packages that are currently available in Jazzy. Last year this process helped us pick up a fair bit of media coverage for the project. Discourse is very markdown friendly so you should be able to re-use these release notes in your package’s readme file, documentation, and homepage.

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by Katherine_Scott on May 16, 2024 05:06 PM

Robotics Developers Day 2024 (*formerly ROS Developers Day) Call for Participation

Dear ROS community,

We are thrilled to invite you to the 7th Robotics Developers Day (*formerly ROS Developers Day), an online conference designed to guide and elevate your robotics career. Mark your calendar for July 5, 2024, and join us from anywhere in the world:

Conference Details:

  • Date: July 5, 2024
  • Time: 2 PM – 2 AM CEST | 7 AM – 7 PM CDT | 9 PM – 9 AM Tokyo
  • Location: Online

Learn more and register: https://www.theconstruct.ai/robotics-developers-day/

Purpose of the Event:
Robotics Developers Day serves as a platform to deepen your understanding of robotics and its career opportunities. Through engaging discussions and practical sessions, you will gain valuable insights into crucial aspects of the field.

What to Expect:

  • Expert Interviews: Professionals will share their experiences and insights on various robotics career paths, including development, research, education, consultancy, and entrepreneurship.
  • Skills Learning: Participate in five hands-on sessions where you’ll program robots in real-time with expert guidance.

Highlights:

  • Expert Interviews:

    • Experiences as a Humanoid Robotics Developer, with Luca Marchionni and Sai Kishor Kothakota from PAL Robotics.
    • Generating Revenue from Robotics Courses.
    • Insights on Building a Robotics Start-up.
    • Teaching & Researching Robotics at University, with Professor Jack Silberman, UC San Diego.
    • Building a Robotics Consultancy Business, with Denis Stogl, CEO @ Stogl Robotics.
  • Skill Learning Sessions:

    • Programming ROS2 with RUST by Júlia Marsal Perendreu.
    • ROS2 Gazebo Custom Plugins by Shantanu Parab.
    • ROS2 with a Tiny Quadcopter by Kimberly McGuire.
    • State Estimation in Kalman Filters in ROS2 by Thisas Ranhiru Samaraweera.
    • Robot Arm Motion Planning with Pyroboplan by Sebastian Castro.
  • Workshops:

    • A Review of ROS2 Jazzy by Alberto Ezquerro.
    • Building Your Robotics Portfolio for Better Employment by Ricardo Tellez.
  • Events:

    • Real Robot Game Contests
    • 2024 ROS Awards Ceremony

Who Should Attend:
This conference caters to individuals at all career stages, from beginners to seasoned professionals, who are interested in exploring or advancing their careers in robotics.

Main Takeaways:

  • Gain clarity on your career options within the robotics domain.
  • Acquire new skills and knowledge relevant to your professional growth.
  • Connect with peers and industry experts in a collaborative environment.

More details about the speakers and sessions will be provided soon.

Learn more and register: https://www.theconstruct.ai/robotics-developers-day/

We hope to see you there!
The Construct team

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by YUHONG_LIN on May 16, 2024 03:39 PM

Pose Prediction for Mobile Ground Robots

Hello everyone,

I want to announce the open source release of sdf_contact_estimation, a ROS1 noetic library for the fast and accurate pose prediction of mobile ground robots in rough terrain (also referred to as robot settling or robot-terrain interaction). A demo is available.

With a runtime of about 0.5 ms per predicted pose, this approach is much faster than a traditional physics simulation and suitable for online planning applications. Voxblox is used as the environment model. Possible use-cases are:

  • Automatic flipper control
  • Path planning
  • Tip-over prevention

This software has been used by Team Hector in the RoboCup Rescue League for whole-body planning with a tracked robot with actuated flippers. That software will be part of a future release.

License: MIT

I am looking forward to your feedback.

Best wishes,
Martin Oehler

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by Martin-Oehler on May 16, 2024 11:40 AM

BT-Studio 0.3 available (with video)

Hi folks,

the third release of BT-Studio (0.3) is out. BT-Studio is the JdeRobot web tool for creating BehaviorTree based robotics applications.

  • It supports ROS2-Humble.
  • It supports both real robots and simulated robots.
  • You can create robotics applications from your web browser combining Python source code with a visual editor of BehaviorTrees.
  • Two sample demos with a TurtleBot2 robot in Gazebo have been developed: Follow Person and Bump and Go

BT Studio 0.3 Visual Follow Person

Currently this tool is being improved along a Google Summer of Code 2024 project in JdeRobot org.

This is the next step from a previous discussion some months ago @ct2034.

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by jmplaza on May 16, 2024 09:33 AM

Announcing robot_folders -- your new workspace management tool

Hi everybody,

Do you enjoy workspace management as part of your ROS developer life? Or are you tired of sourcing your workspace in every new shell and navigating to your workspace root in order to build your workspace every time? If you feel more like the second, we might have something for you:

Introducing robot_folders, your new tool to make your life as a ROS developer even more enjoyable.

robot_folders helps you with

  • Easy sourcing workspaces in a new shell with fzirob change_environment
  • Easy building of workspaces (from everywhere, in every sourced shell) with fzirob make
  • Easy navigation to your workspace folders with fzirob cd
  • Using underlay workspaces in a breeze with fzirob manage_underlays
  • Adding libraries to your workspace that can’t be built by colcon by using a misc_ws
  • Defining entry points for your applications by using fzirob run
  • Exchanging workspaces (“environments”) with others containing everything that is needed to get you running.
  • Builtin zsh support no more thinking about which setup file to source
  • Rich tab completion for all commands and environments

While being originally designed around the use-case of combining catkin workspaces with a custom cmake-based build system over the years robot_folders has evolved. Support for our custom build system got removed as the build system got deprecated and support for colcon workspaces was added.

We now decided to go open-source in order to share that experience with the community and for opening up the development for new feature ideas in order to make it the best work companion for doing ROS development.

If you’d like to try it yourself, check it out today by installing it via pip / pipx. See the installation instructions for details on installation.

Documentation can be found here.

Any issue reports, suggestions or any other feedback are very welcome on GitHub.

Happy robot folding :robot:

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by fmauch on May 16, 2024 07:30 AM

May 13, 2024
New Packages for Noetic 2024-05-10

We’re happy to announce 2 new packages and 67 updates are now available in ROS Noetic. This sync was tagged as noetic/2024-05-10. The sync was performed on May 10th; this announcement is a bit late.

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

Package Updates for ROS Noetic

Added Packages [2]:

Updated Packages [67]:

Removed Packages [0]:

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

  • Alexander Bubeck
  • Atsushi Watanabe
  • Autonics-lidar
  • Benjamin Maidel
  • Felipe Garcia Lopez
  • Felix Messmer
  • Florian Weisshardt
  • Gonzalo Mier
  • Jannik Abbenseth
  • Jose-Luis Blanco-Claraco
  • Joshua Hampp
  • Kei Okada
  • Loy van Beek
  • Matthias Gruhler
  • Robert Haschke
  • Tom Moore
  • Tony Baltovski
  • Tyler Weaver

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by sloretz on May 13, 2024 04:42 PM

May 10, 2024
Jazzy support for ROS2 Babel Fish and QML ROS2 Plugin for quickly developed and great-looking intuitive Robot UIs

Good friday everyone,

for those of you already testing the new Jazzy release, I have just release updates for ROS2 Babel Fish and QML ROS2 Plugin with support for ROS 2 Jazzy :tada:
Jazzy is also the first LTS version that includes my fixes in the core packages and ROS2 Babel Fish finally has full support for publishing, subscribing AND calling services or actions :partying_face:

Here’s an example of the interface, we’ve built on top of RViz using these libraries:
ui_example
(We will also soon port the rviz overlay code for RViz 2)

Here’s links to the repositories (if you just want to build an interface, you don’t need to care about ROS2 Babel Fish)

Thanks for reading and have a great weekend :smiley:

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by StefanFabian on May 10, 2024 12:04 PM

OSRF policy on GitHub organisation naming

The OSRF is putting forward a proposed policy for the naming of GitHub organisations that contain ROS and ROS-based software. This new policy was created taking into account the historical way GitHub organisations were named as part of the ROS project and the changing needs of the community, while also balancing the continued growth of the community, the need for a sustainable model of organisation management and package findability, the desire to clearly identify what is managed by the OSRF, and the need for the OSRF to steward the ROS, Gazebo, and other relevant brands on behalf of the community.

Historically, when a GitHub organisation was created with “ros-” in the name, the ROS maintainers (first at Willow Garage, then at the OSRF) requested administrator/owner control be given to someone associated with the ROS maintainers. This was done because having “ros” in the organisation name was interpreted as special by the community and so someone core to ROS needed to be involved to ensure correct use. This is the origin of organisations such as “ros-drivers” and “ros-planning”. This will now change.

No enforcement of GitHub organisation naming

First, and most importantly, the OSRF will no longer try to exercise any control over GitHub organisations beginning with “ros-” and “gazebo-”, other than those that it already manages. Trying to police the naming of GitHub organisations would be a futile and time-consuming game of Whac-A-Mole - with a lot less of the expected fun of playing the actual game of Whac-A-Mole.

An extension of the above is that, as with similar software-related terms such as Linux, we will not stop someone using “ros”, “gazebo” or “rmf” anywhere in their Github organisation name.

A Github organisation or repository including “ros”, “gazebo” or other similar terms in the name cannot and should not be taken as a sign that the OSRF endorses that project or as a sign of quality.

Please note that creating a Github organisation or repository that contains words like “osrf” or “open robotics” will be taken much more seriously.

Caveats

There is an important caveat to this policy: We will not object to a GitHub organisation being named, for example, “ros-autonomy”, but if trademark infringement, trademark misuse, or misrepresentation is occurring, we will need to take action to protect and preserve the community brands to ensure that they are not devalued. We have a trademark usage guide available for ROS to help you understand how to use the ROS name correctly, and will prepare similar guides for the OSRF’s other registered and common-law trademarks.

We would also like to take this opportunity to offer some naming advice. If your organisation is called something like “ros-autonomy”, you may wish to reconsider your choice of organisation name to maximise the discoverability of your packages through a more descriptive name.

Package discoverability

Long-time members of the community often sing laments over the difficulty of finding packages that fill a specific purpose, such as drivers. This is one of the reasons that the ROS Index was created. We admit that the ROS Index is not perfect; improving it is an item on a very long list of things that need to be done. With the successful launch of the OSRA, we hope to soon have the funding to enable us to take on tasks such as this. If you wish to contribute financially to enabling the OSRF to target critical community needs for rapid improvement, consider joining the OSRA.

REP 2005 is another source of well-known packages that are commonly used. As part of the launch of the OSRA, REP 2005 has always been set for a revision. The revision will now also take into account this organisation naming policy, and part of the revision will involve categorising the list to make it clear which are managed by the OSRF, and which are not.

Existing GitHub “ros-” organisations

For the time being, the OSRF will maintain its management of the existing GitHub organisations that it controls. We have no plans to move any repositories out of existing organisations at this time.

The core ROS team at Open Robotics made use of the access they have to repositories contained in “ros-” organisations to push changes in not-actually-core “ros-” repositories when necessary to facilitate a release or accelerate a necessary fix. While the OSRF believes that such access is a benefit to ensuring up-to-date binary releases of as many packages as possible continue to be available, this is not an approach that is sustainable in the long term.

We intend to transition away from this as we gradually re-organise the ROS repositories managed by the OSRF. We have no current plans to move any repositories out of existing organisations, but it is now less likely that new repositories will be created in the existing organisations if they are not being directly managed by the ROS maintainers. Once we have improved the package discovery tools, we will revisit the existing organisations and repositories.

Request for comments

Before we finalise this policy, we would like to hear your thoughts. What do you like, and what (if anything) would you like changed? Are you aware of any negative impacts that may occur? Don’t wait, let us know now by replying to this thread so we can consider how to improve the policy.

Formal policy statement

The policy statement, as will be posted on the websites once finalised, is given below.


The Open Source Robotics Foundation (OSRF) manages (has “owner” permissions on) a number of GitHub organisations. An incomplete list of such organisations is given below.

  • ros
  • ros2
  • ros-infrastructure
  • ros-planning
  • ros-drivers
  • ros-manipulation
  • gazebosim
  • gazebo-tooling
  • gazebo-release
  • gazebo-web
  • gazebo-forks
  • open-rmf

Creators of software based on or related to OSRF software may create their own Github organisations and repositories that follow a similar naming pattern, such as starting with “ros-” or “gazebo-”. Much like the Linux Foundation does not own the hundreds of thousands of repositories with ‘linux’ in the name, the OSRF will not be policing the creation of such organisations and repositories, and in general will not try to prevent their creation.

However, if an organisation or repository name follows one of the above patterns, this should not be taken as an indication that it has been endorsed by the OSRF or as a sign of quality. Verify who manages an organisation or repository, rather than depending on the name alone.

In addition, it is an unfortunate reality that the OSRF must be proactive when it finds infringement, misuse, or misrepresentation of its registered and common-law trademarks. If we encounter an organisation or repository that is being used in a way that conflicts with the OSRF’s trademarks, we will contact the owners to resolve the situation. An example of this is naming your product using ROS or a ROS-derivative name or any other trademark owned by Open Robotics and then naming your Github org accordingly.

Due to the need for strong protection of the Open Robotics non-profit, including the brand and the image of the non-profit organisation in general, we will not be permitting anyone to create an organisation or a repository related to robotics with a name containing “osrf” or “open robotics”.

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by gbiggs on May 10, 2024 12:00 AM

May 09, 2024
ROS Meetup in the Arabian Region

:rocket: Exciting News! :rocket:

Are you ready to take your ROS skills to the next level? Get ready, because in our upcoming workshop session, we’re diving deep into ROS Services and ROS Actions!

:robot: What to Expect:

  • ROS Services: Learn how to create and consume ROS services to enable seamless communication between different nodes in your robotic system.

  • ROS Actions: Discover the power of ROS actions for executing long-running tasks, with real-world examples to help solidify your understanding.

:computer: Hands-On Experience:
We’re not just stopping at theory! Dive into practical examples in both Python and C++ to grasp these concepts effectively. Whether you’re more comfortable with Python or CPP, we’ve got you covered!

:spiral_calendar: Save the Date: 11 May

:clock4:Time: 8 pm Cairo / 8 pm KSA / 9 pm Dubai

Don’t miss out on this opportunity to level up your ROS expertise. See you there!

:no_entry: Don’t forget to stay tuned for updates and further learning resources!

:bulb: YouTube Channel: https://buff.ly/49UBg3i
:bulb: Meeting Link: https://buff.ly/49bQOA8

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by khaledgabr77 on May 09, 2024 08:13 PM

May 08, 2024
Ros2 pub, dds sub, use zero copy

I want to verify the communication between ROS2 pub and DDS sub (using the zero copy of the iceoryx component,data type is string). How should I write this example

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by Autostone-c on May 08, 2024 07:28 AM

May 07, 2024
IEEE RAS SPARX Mentee Program, Exchange, Scholar-at-Risk

Robotics academics from developing countries (e.g. Chile, India, Hungary, Brazil, Egypt, China, South Sudan, to name a few) and threatened scholars who are seeking refuge/resuming their academic careers, have an opportunity for $10k funding towards collaboration with robotics mentors like Seyed Amir Tafrishi, attendance at e.g. IROS & ICRA, etc.

Amir’s one of 16 selected as a mentor in IEEE Robotics and Automation Society SPARX program program and is willing to pair with mentees on bio-inspired underactuated rolling systems, geometric mechanics, unconventional robot design and control +

I realised that the key to finding a successful mentee in these underrepresented groups in robotics is lots of visibility, so I’m reposting here after a chat with him (I’m not affiliated)

If you know someone suitable (postdoc and up), maybe let them know quickly, since they gotta get their submission in by the end of the week!

The second page of the application form shows project details for collaborations including others in:

  • Autonomous navigation and localization for marine robot
  • Energy harvesting for Internet of Underwater Things (IoUT)
  • Disaster Response with Teams of Heterogeneous Robots
  • Open-Source T-FLEX Ankle Exoskeleton
  • Assistive and Rehabilitation Robotics
  • EEG-based Elderly Home Care
  • Teleoperation of Legged Manipulators
  • Deep Learning for Humanoid Robots
  • Soft Robotic Manipulators
  • Predictive Display for Teleoperation
  • Language-driven Manipulation
    and more!!

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by dhood on May 07, 2024 04:34 PM

🎵 ROS 2 Jazzy Jalisco Release Illustration & Swag Sale

ROS 2 Jazzy Jalisco Release Illustration :musical_note:


Hi Everyone,

It is my pleasure to present you with the illustration for ROS 2 Jazzy Jalisco! This release illustration is the work of our new illustrator Ryan Hungerford. Ryan is an illustrator based in the Bay Area and he was recommended to us by Josh Ellingson, the illustrator for all our previous ROS releases. Josh has been incredibly busy with his amazing installation art, so we decided now was a good time to add another illustrator to our extended team. We’re really excited to have Ryan as part of the team and look forward to working with him on future ROS releases.

Jazzy Swag Sale


We’re also happy to announce that the ROS 2 Jazzy Jalisco swag sale is now live. We’re now using T-Spring for all of our ROS swag sales as the platform supports both a wide array of items and allows us to produce merch on demand and ship it almost anywhere on earth We’ve also created a permanent URL for ROS swag at spring.ros.org so it is easy to find. For this release we are offering fifteen different items for sale including:

  • :tshirt: Mens, womens, and kids shirts (we’re big fans of the tri-blend shirts)
  • :baby: Baby Onsies
  • :coat: Hoodies and long sleeve shirts
  • :coffee: Water bottles and coffee mugs
  • :placard: Banners and posters
  • :art: GIANT Stickers
  • :handbag: Shoulder bags
  • :bed: Throw Pillows

All profits from the Jazzy swag sale go directly to the Open Source Robotics Foundation and help support the ROS, Gazebo, and Open-RMF projects. If you order today you might just receive your swag by release day on May 23rd, 2024. If you would like to earn Jazzy swag by contributing to the project please consider contributing to the Jazzy Test and Tutorial party that is currently taking place. The top twenty test contributors will be sent a code to our T-Spring store.

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by Katherine_Scott on May 07, 2024 02:38 PM


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