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Hello. I’m interested in knowing if ROS users would find value adding additional levels in the diagnostic_msgs/DiagnosticStatus message type.

I work on systems with large amounts of ROS diagnostics and it can often be hard to convey to end users what to focus on when issues occur. Now in ROS diagnostics world you can create custom analyzer plugins (and that’s something I’m working on) but I still fine the OK, WARN and ERROR levels to be a bit limiting.

Taking some inspiration from OpenCyphal’s Severity level message I think the following could be useful.

byte INFO=0       # Purely informational
byte OK=1         # Component's diagnostic is in an OK state
byte NOTICE=2     # Level at which user awareness might be recommended but action is not necessarily required
byte WARN=3       # Begin to bring awareness to users, as there might be an issue
byte ERROR=4      # An error condition has been detected
byte CRITICAL=5   # Failure is imminent 
byte ALERT=6      # User attention is required
byte STALE=7      # Reserved for use by the aggregator 

The distinction between INFO and OK would be in some cases we have a diagnostics that just report some values because it’s convenient but the level is not expected to change, as opposed to a diagnostic reporting OK which might not always be OK.

The distinction between ERROR and CRITICAL would be the operational context. For example we do a lot of configuration checksum validation at startup. If there’s a mismatch in what we expect that would be an ERROR. An example of a CRITICAL level might be critically low battery levels. This is not necessarily an error, it is a state of the battery (a BMS on the other hand could report errors and that could be an ERROR level diagnostic).

An example of ALERT might be usage of an emergency stop button. It’s usage is not necessarily an error, but as it is related to safety we need to report it at the highest level possible.

Regardless of specific states, I think more granularity could be helpful.

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Hello there everyone!

We’re happy to announce 25 new packages (including rmw_zenoh ) and 216 updates are now available in ROS 2 Jazzy Jalisco .

This sync was tagged as jazzy/2025-02-10 .

Package Updates for jazzy

Note that package counts include dbgsym packages which have been filtered out from the list below

Added Packages [25]:

• ros-jazzy-autoware-internal-planning-msgs: 1.5.0-2
• ros-jazzy-clearpath-config-live: 2.0.0-1
• ros-jazzy-clearpath-desktop: 2.0.0-1
• ros-jazzy-clearpath-nav2-demos: 2.0.0-1
• ros-jazzy-clearpath-offboard-sensors: 2.0.0-1
• ros-jazzy-clearpath-viz: 2.0.0-1
• ros-jazzy-cob-actions: 2.8.12-1
• ros-jazzy-cob-msgs: 2.8.12-1
• ros-jazzy-cob-srvs: 2.8.12-1
• ros-jazzy-crane-plus: 3.0.0-1
• ros-jazzy-crane-plus-control: 3.0.0-1
• ros-jazzy-crane-plus-description: 3.0.0-1
• ros-jazzy-crane-plus-examples: 3.0.0-1
• ros-jazzy-crane-plus-gazebo: 3.0.0-1
• ros-jazzy-crane-plus-moveit-config: 3.0.0-1
• ros-jazzy-kompass: 0.2.1-1
• ros-jazzy-kompass-interfaces: 0.2.1-1
• ros-jazzy-py-trees-ros-tutorials: 2.3.0-1

Updated Packages [216]:

• ros-jazzy-ackermann-steering-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-admittance-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-automatika-ros-sugar: 0.2.5-1 → 0.2.6-1
• ros-jazzy-autoware-internal-debug-msgs: 1.3.0-1 → 1.5.0-2
• ros-jazzy-autoware-internal-msgs: 1.3.0-1 → 1.5.0-2
• ros-jazzy-autoware-internal-perception-msgs: 1.3.0-1 → 1.5.0-2
• ros-jazzy-backward-ros: 1.0.6-1 → 1.0.7-1
• ros-jazzy-bicycle-steering-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-bond: 4.1.0-1 → 4.1.2-1
• ros-jazzy-bond-core: 4.1.0-1 → 4.1.2-1
• ros-jazzy-bondcpp: 4.1.0-1 → 4.1.2-1
• ros-jazzy-bondpy: 4.1.0-1 → 4.1.2-1
• ros-jazzy-clearpath-bt-joy: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-common: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-config: 2.0.1-1 → 2.1.0-1
• ros-jazzy-clearpath-control: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-customization: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-description: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-generator-common: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-manipulators: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-manipulators-description: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-motor-msgs: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-mounts-description: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-msgs: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-platform-description: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-platform-msgs: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-ros2-socketcan-interface: 2.0.0-1 → 2.1.0-1
• ros-jazzy-clearpath-sensors-description: 2.0.0-1 → 2.1.0-1
• ros-jazzy-control-toolbox: 3.5.0-1 → 4.0.0-1
• ros-jazzy-controller-interface: 4.24.0-1 → 4.25.0-1
• ros-jazzy-controller-manager: 4.24.0-1 → 4.25.0-1
• ros-jazzy-controller-manager-msgs: 4.24.0-1 → 4.25.0-1
• ros-jazzy-diff-drive-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-effort-controllers: 4.19.0-1 → 4.20.0-1
• ros-jazzy-eigen-stl-containers: 1.0.0-7 → 1.1.0-1
• ros-jazzy-force-torque-sensor-broadcaster: 4.19.0-1 → 4.20.0-1
• ros-jazzy-forward-command-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-foxglove-bridge: 0.8.2-1 → 0.8.3-1
• ros-jazzy-geometric-shapes: 2.3.1-1 → 2.3.2-1
• ros-jazzy-gpio-controllers: 4.19.0-1 → 4.20.0-1
• ros-jazzy-grid-map: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-cmake-helpers: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-core: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-costmap-2d: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-cv: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-demos: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-filters: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-loader: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-msgs: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-octomap: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-pcl: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-ros: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-rviz-plugin: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-sdf: 2.2.0-1 → 2.2.1-1
• ros-jazzy-grid-map-visualization: 2.2.0-1 → 2.2.1-1
• ros-jazzy-gripper-controllers: 4.19.0-1 → 4.20.0-1
• ros-jazzy-hardware-interface: 4.24.0-1 → 4.25.0-1
• ros-jazzy-hardware-interface-testing: 4.24.0-1 → 4.25.0-1
• ros-jazzy-imu-sensor-broadcaster: 4.19.0-1 → 4.20.0-1
• ros-jazzy-joint-limits: 4.24.0-1 → 4.25.0-1
• ros-jazzy-joint-state-broadcaster: 4.19.0-1 → 4.20.0-1
• ros-jazzy-joint-trajectory-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-kitti-metrics-eval: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mapviz: 2.4.4-1 → 2.4.5-1
• ros-jazzy-mapviz-interfaces: 2.4.4-1 → 2.4.5-1
• ros-jazzy-mapviz-plugins: 2.4.4-1 → 2.4.5-1
• ros-jazzy-mecanum-drive-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-mola: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-bridge-ros2: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-demos: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-input-euroc-dataset: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-input-kitti-dataset: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-input-kitti360-dataset: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-input-mulran-dataset: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-input-paris-luco-dataset: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-input-rawlog: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-input-rosbag2: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-kernel: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-launcher: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-lidar-odometry: 0.5.4-1 → 0.6.1-1
• ros-jazzy-mola-metric-maps: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-msgs: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-pose-list: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-relocalization: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-traj-tools: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-viz: 1.5.1-1 → 1.6.0-1
• ros-jazzy-mola-yaml: 1.5.1-1 → 1.6.0-1
• ros-jazzy-moveit-visual-tools: 4.1.1-1 → 4.1.2-1
• ros-jazzy-mp2p-icp: 1.6.4-1 → 1.6.5-1
• ros-jazzy-multires-image: 2.4.4-1 → 2.4.5-1
• ros-jazzy-mvsim: 0.13.0-1 → 0.13.1-1
• ros-jazzy-odom-to-tf-ros2: 1.0.4-1 → 1.0.5-1
• ros-jazzy-pal-statistics: 2.6.0-1 → 2.6.1-1
• ros-jazzy-pal-statistics-msgs: 2.6.0-1 → 2.6.1-1
• ros-jazzy-parallel-gripper-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-pid-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-pose-broadcaster: 4.19.0-1 → 4.20.0-1
• ros-jazzy-position-controllers: 4.19.0-1 → 4.20.0-1
• ros-jazzy-range-sensor-broadcaster: 4.19.0-1 → 4.20.0-1
• ros-jazzy-realtime-tools: 3.1.0-1 → 3.3.0-1
• ros-jazzy-rmw-zenoh-cpp: 0.2.0-1 → 0.2.1-1
• ros-jazzy-ros2-control: 4.24.0-1 → 4.25.0-1
• ros-jazzy-ros2-control-test-assets: 4.24.0-1 → 4.25.0-1
• ros-jazzy-ros2-controllers: 4.19.0-1 → 4.20.0-1
• ros-jazzy-ros2-controllers-test-nodes: 4.19.0-1 → 4.20.0-1
• ros-jazzy-ros2controlcli: 4.24.0-1 → 4.25.0-1
• ros-jazzy-rqt-controller-manager: 4.24.0-1 → 4.25.0-1
• ros-jazzy-rqt-joint-trajectory-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-smclib: 4.1.0-1 → 4.1.2-1
• ros-jazzy-srdfdom: 2.0.5-1 → 2.0.7-1
• ros-jazzy-steering-controllers-library: 4.19.0-1 → 4.20.0-1
• ros-jazzy-tile-map: 2.4.4-1 → 2.4.5-1
• ros-jazzy-transmission-interface: 4.24.0-1 → 4.25.0-1
• ros-jazzy-tricycle-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-tricycle-steering-controller: 4.19.0-1 → 4.20.0-1
• ros-jazzy-ur: 3.0.1-1 → 3.0.2-1
• ros-jazzy-ur-calibration: 3.0.1-1 → 3.0.2-1
• ros-jazzy-ur-client-library: 1.5.0-1 → 1.6.0-1
• ros-jazzy-ur-controllers: 3.0.1-1 → 3.0.2-1
• ros-jazzy-ur-dashboard-msgs: 3.0.1-1 → 3.0.2-1
• ros-jazzy-ur-description: 3.0.0-1 → 3.0.1-1
• ros-jazzy-ur-moveit-config: 3.0.1-1 → 3.0.2-1
• ros-jazzy-ur-robot-driver: 3.0.1-1 → 3.0.2-1
• ros-jazzy-velocity-controllers: 4.19.0-1 → 4.20.0-1
• ros-jazzy-zenoh-cpp-vendor: 0.2.0-1 → 0.2.1-1

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:

• Automatika Robotics
• Bence Magyar
• Berkay Karaman
• Chris Iverach-Brereton
• Chris Lalancette
• Daniel Stonier
• Dave Coleman
• Felix Exner
• Felix Messmer
• Geoffrey Biggs
• George Stavrinos
• Hans-Joachim Krauch
• Jordan Palacios
• Jose Luis Blanco-Claraco
• Luis Camero
• M. Fatih Cırıt
• Maximilian Wulf
• MoveIt Release Team
• RT Corporation
• Roni Kreinin
• Ryohsuke Mitsudome
• Southwest Research Institute
• Tony Baltovski
• Tyler Weaver
• Victor López
• Yadunund
• Yukihiro Saito

Enjoy!

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ROS News for the Week of February 3rd, 2025

I am happy to announce that we have firm dates for ROSCon 2025 in Singapore !
ROSCon 2025 will be held on 2025-10-26T16:00:00Z UTC→2025-10-28T16:00:00Z UTC. We should have the website up by the end of the month.

Gazebo Classic is officially end-of-life. You can read all about it over on the Robot Report. Our friends over at Articulated Robotics have a great video on how you can create your own custom worlds using modern Gazebo.

Space ROS Jazzy 2025.01.0 has been released!

We get a lot of questions about multi-robot systems in the Discord. I came across this fantastic open-source project out of Polytechnique Montreal called, “A Multi-Robot Exploration Planner for Space Applications” that is a great guide to building your first multi-robot system.

Events

• 2025-02-07 Bracket Bot Hackathon
• 2025-02-12 Embodied AI Community Group #4
• 2025-02-11 Zenoh Advanced Features Workshop w/ Zettascale – Calendar Invite
• 2025-02-22 Pan-African Robotics Competition Deadline
• 2025-02-27 Zürich Robotics Meetup
• 2025-03-11 ==> 2025-03-13 ROS-Industrial Training (Americas) March 2025
• 2025-05-18 Maritime Community Group Meeting Feb 2025: Mecatron UnitySim for underwater robotics
• 2025-04-28 International Workshop on Robotics Software Engineering
• 2025-05-23 ICRA 2025 Advancing Quantitative and QUAlitative SIMulators for marine applications
• 2025-05-30 => 2025-05-31 2025 Open Hardware Summit in Edinburgh
• 2025-10-27 => 2025-10-29 ROSCon 2025 in Singapore – ROS Calendar Link

News

• Gazebo Classic Reaches End of Life
• Google Summer of Code - Call for Mentors
• New TGC Members elected for 2025
• OSRA TGC meeting minutes for December, 2024
• Bonsai Robotics Raises $15 Million to Help Combat Farm Labor Shortage – The Robot Report
• Open-RMF: Community Forum
• ROS 2 Rust Meeting: February 2025
• Physical Intelligence open-sources Pi0 robotics foundation model
• Nauticus working with Leidos on underwater robots
• Teradyne robotics group lays off 10% of global staff
• Meta is studying how humans and robots can collaborate on housework
• SoCal Edison Tests REFCL Tech to Prevent LA Wildfires
• Indiegogo: Self-Driving Golf Trolley using ROS 2
• ELEGNT: Expressive and Functional Movement Design for Non-Anthropomorphic Robot
• A Roboticist Visits FOSDEM 2025
• IEEE ICRA 2025 Registration Now Open

ROS

• Gazebo Classic 11 has reached end-of-life
• Upcoming switch of Windows installation to pixi/conda
• Space ROS Jazzy 2025.01.0 Release
• ROS 2 Cheat Sheet
• py_trees_parser
• New packages for ROS 2 Rolling Ridley 2025-01-02
• ROS 2 launch GUI
• AutoAPMS: A unified software framework for creating behavior-based robotic applications
• The ros2_utils_tool, a full GUI toolkit for various ROS2 utilities with additional CLI support
• Vision-Only Robot Navigation in a Neural Radiance World
• Real-time Object Detection with NanoOWL on Jetson Orin Nano Super Devices
• Intrepid AI - All-in-one platform for autonomous robots
• ROS 2 Package to calculate the intrinsic and extrinsic camera calibration. Adding an easy way to fuse camera and lidars
• OpenCV: How To Participate in Intrinsic Bin Picking Challenge
• New Feature: Gazebo Visualize a Frustum
• Open Source at Physical-Intelligence
• Articulated Robotics: How to make custom Gazebo worlds for your robot
• Hackaday: Stepper Motor Operating Principle And Microstepping Explained
• A Python Library for Procedural Scene Generation in Robot Manipulation
• ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
• Palletizing ROS Robot
• Autonomous Mobile Robot simulation with Gazebo Fortress
• A Python library to facilitate interaction with Onshape’s REST API
• A flexible framework for accurate LiDAR odometry, map manipulation, and localization
• Insight: a minimalist GUI alternative to rqt
• A Multi-Robot Exploration Planner for Space Applications
• VLM-Vac Enhancing Smart Vacuums via VLM Knowledge Distillation and Language Guided Experience Replay – paper

Got a Minute

Want to become a ROS contributor? The ROS 2 CLI is a great place to start! Consider taking up an issue or adding a feature.

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I’m excited to announce the beginning of Open-RMF Community Forum sessions!

• Zoom Meeting Link
• 2025-02-10T08:00:00Z UTC
• See official OSRF events calendar for the biweekly scheduled events.

Community Forum sessions are an opportunity for members of the Open-RMF community to have open discussions with the project lead about matters pertaining to the project.

While the PMC sessions are driven by the project management committee members, these Community Forums are meant to be driven by community members. That includes users, contributors, and collaborators of Open-RMF, as well as anyone who is interested in the project and wanting to learn more about it.

Come to ask questions, share ideas, seek help, request features, or recommend designs.

PMC members are not obligated to attend, but the Open-RMF Project Lead will be present for every session. Individual sessions might be cancelled without advance notice but will be deleted from the calendar when that occurs.

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Hi,
The client library WG meeting is back this week.

The next meeting of the Client Library Working Group will be this Friday, thth February 2025 at 8 AM Pacific Time.

• Meeting link: https://meet.google.com/oij-atzj-znw
• Meeting minutes and agenda: ROS 2 Client Libraries Working Group - Google Docs
• Calendar invite: https://calendar.app.google/Rgc5GKdq9d6TGSZ3A
• Google group if you want to be notified of future meetings: https://groups.google.com/g/ros-2-client-library-wg

There’s a topic on the agenda from @emersonknapp, and we will likely discuss about ROS executors as usual.
Everyone is welcome to join and bring their own topics for discussion!

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Hi

This Monday, we had another successful meeting of the ROS Deliberation Community Group, thanks to the amazing preparation by @scastro. Thanks for that and everyone who participated. We had great discussions primarily on the two topics of

• Unified Planning and
• task-level learning for deliberation

Find the full minutes here: ROS Deliberation Community Group - Google Docs

Call for contributions
We are looking for quick technical spotlights on your favourite deliberation tools. It does not have to more than 5 minutes. Please get in touch if you want to share your work or your experiences with existing tools.

You are in any case very welcome to participate in future meetings. You can find all necessary information in the document linked above.

Looking forward to discussing deliberation technologies in ROS with you soon.

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Please come and join us for this coming meeting at 1700-1800 UTC on Monday 10th February 2025, where we will locate and work through some KubeEdge examples. We will note down our feedback and provide it to Tomoya Fujita, who gave a talk in a previous session about KubeEdge and some related technologies. If you’re interested to see the talk, we have published it on YouTube.

This was also the original plan from last meeting, but unfortunately we did not have the prerequisites set up; the coming meeting will have the prerequisites ready to try KubeEdge out, For Real This Time. If you are interested to see the previous meeting, the recording is available on YouTube.

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 YouTube 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 or keep an eye on the Cloud Robotics Hub.

Hopefully we will see you there!

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Hello everyone!

We’re happy to announce 16 new package and 211 updates are now available in ROS 2 Rolling Ridley
While 18 packages were removed, they will be re-added once build fixes are applied and bloomed.

This sync was tagged as rolling/2025-02-04 .

Package Updates for rolling

Added Packages [16]:

• ros-rolling-autoware-internal-planning-msgs: 1.5.0-1
• ros-rolling-autoware-internal-planning-msgs-dbgsym: 1.5.0-1
• ros-rolling-cob-actions: 2.8.12-1
• ros-rolling-cob-actions-dbgsym: 2.8.12-1
• ros-rolling-cob-msgs: 2.8.12-1
• ros-rolling-cob-msgs-dbgsym: 2.8.12-1
• ros-rolling-cob-srvs: 2.8.12-1
• ros-rolling-cob-srvs-dbgsym: 2.8.12-1
• ros-rolling-gz-ros2-control: 2.0.5-1
• ros-rolling-gz-ros2-control-dbgsym: 2.0.5-1
• ros-rolling-gz-ros2-control-demos: 2.0.5-1
• ros-rolling-gz-ros2-control-demos-dbgsym: 2.0.5-1
• ros-rolling-kompass: 0.2.1-1
• ros-rolling-kompass-interfaces: 0.2.1-1
• ros-rolling-kompass-interfaces-dbgsym: 0.2.1-1
• ros-rolling-py-trees-ros-tutorials: 2.3.0-1

Updated Packages [211]:

• ros-rolling-ament-clang-format: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-clang-tidy: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-clang-format: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-clang-tidy: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-copyright: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-cppcheck: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-cpplint: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-flake8: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-lint-cmake: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-mypy: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-pclint: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-pep257: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-pycodestyle: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-pyflakes: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-uncrustify: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cmake-xmllint: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-copyright: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cppcheck: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-cpplint: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-flake8: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-lint: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-lint-auto: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-lint-cmake: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-lint-common: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-mypy: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-pclint: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-pep257: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-pycodestyle: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-pyflakes: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-uncrustify: 0.19.0-1 → 0.19.1-1
• ros-rolling-ament-xmllint: 0.19.0-1 → 0.19.1-1
• ros-rolling-automatika-ros-sugar: 0.2.5-1 → 0.2.6-1
• ros-rolling-automatika-ros-sugar-dbgsym: 0.2.5-1 → 0.2.6-1
• ros-rolling-autoware-internal-debug-msgs: 1.3.0-1 → 1.5.0-1
• ros-rolling-autoware-internal-debug-msgs-dbgsym: 1.3.0-1 → 1.5.0-1
• ros-rolling-autoware-internal-msgs: 1.3.0-1 → 1.5.0-1
• ros-rolling-autoware-internal-msgs-dbgsym: 1.3.0-1 → 1.5.0-1
• ros-rolling-autoware-internal-perception-msgs: 1.3.0-1 → 1.5.0-1
• ros-rolling-autoware-internal-perception-msgs-dbgsym: 1.3.0-1 → 1.5.0-1
• ros-rolling-bond: 4.1.0-1 → 4.1.2-1
• ros-rolling-bond-core: 4.1.0-1 → 4.1.2-1
• ros-rolling-bond-dbgsym: 4.1.0-1 → 4.1.2-1
• ros-rolling-bondcpp: 4.1.0-1 → 4.1.2-1
• ros-rolling-bondcpp-dbgsym: 4.1.0-1 → 4.1.2-1
• ros-rolling-bondpy: 4.1.0-1 → 4.1.2-1
• ros-rolling-eigen-stl-containers: 1.0.0-6 → 1.1.0-1
• ros-rolling-geometric-shapes: 2.3.1-1 → 2.3.2-1
• ros-rolling-geometric-shapes-dbgsym: 2.3.1-1 → 2.3.2-1
• ros-rolling-gz-rendering-vendor: 0.2.0-1 → 0.2.1-1
• ros-rolling-gz-rendering-vendor-dbgsym: 0.2.0-1 → 0.2.1-1
• ros-rolling-kitti-metrics-eval: 1.5.1-1 → 1.6.0-1
• ros-rolling-kitti-metrics-eval-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-liblz4-vendor: 0.29.0-1 → 0.31.0-1
• ros-rolling-mapviz: 2.4.4-1 → 2.4.5-1
• ros-rolling-mapviz-dbgsym: 2.4.4-1 → 2.4.5-1
• ros-rolling-mapviz-interfaces: 2.4.4-1 → 2.4.5-1
• ros-rolling-mapviz-interfaces-dbgsym: 2.4.4-1 → 2.4.5-1
• ros-rolling-mapviz-plugins: 2.4.4-1 → 2.4.5-1
• ros-rolling-mapviz-plugins-dbgsym: 2.4.4-1 → 2.4.5-1
• ros-rolling-mcap-vendor: 0.29.0-1 → 0.31.0-1
• ros-rolling-mcap-vendor-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-mola: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-bridge-ros2: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-bridge-ros2-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-demos: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-euroc-dataset: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-euroc-dataset-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-kitti-dataset: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-kitti-dataset-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-kitti360-dataset: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-kitti360-dataset-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-mulran-dataset: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-mulran-dataset-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-paris-luco-dataset: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-paris-luco-dataset-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-rawlog: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-rawlog-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-rosbag2: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-input-rosbag2-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-kernel: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-kernel-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-launcher: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-launcher-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-lidar-odometry: 0.5.4-1 → 0.6.1-1
• ros-rolling-mola-lidar-odometry-dbgsym: 0.5.4-1 → 0.6.1-1
• ros-rolling-mola-metric-maps: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-metric-maps-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-msgs: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-msgs-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-pose-list: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-pose-list-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-relocalization: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-relocalization-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-traj-tools: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-traj-tools-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-viz: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-viz-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-yaml: 1.5.1-1 → 1.6.0-1
• ros-rolling-mola-yaml-dbgsym: 1.5.1-1 → 1.6.0-1
• ros-rolling-mp2p-icp: 1.6.4-1 → 1.6.5-1
• ros-rolling-mp2p-icp-dbgsym: 1.6.4-1 → 1.6.5-1
• ros-rolling-multires-image: 2.4.4-1 → 2.4.5-1
• ros-rolling-multires-image-dbgsym: 2.4.4-1 → 2.4.5-1
• ros-rolling-odom-to-tf-ros2: 1.0.4-1 → 1.0.5-2
• ros-rolling-odom-to-tf-ros2-dbgsym: 1.0.4-1 → 1.0.5-2
• ros-rolling-rcl: 10.0.1-1 → 10.0.2-1
• ros-rolling-rcl-action: 10.0.1-1 → 10.0.2-1
• ros-rolling-rcl-action-dbgsym: 10.0.1-1 → 10.0.2-1
• ros-rolling-rcl-dbgsym: 10.0.1-1 → 10.0.2-1
• ros-rolling-rcl-lifecycle: 10.0.1-1 → 10.0.2-1
• ros-rolling-rcl-lifecycle-dbgsym: 10.0.1-1 → 10.0.2-1
• ros-rolling-rcl-yaml-param-parser: 10.0.1-1 → 10.0.2-1
• ros-rolling-rcl-yaml-param-parser-dbgsym: 10.0.1-1 → 10.0.2-1
• ros-rolling-rclpy: 8.0.0-1 → 9.0.0-1
• ros-rolling-rcpputils: 2.13.2-1 → 2.13.3-1
• ros-rolling-rcpputils-dbgsym: 2.13.2-1 → 2.13.3-1
• ros-rolling-rcutils: 6.9.3-1 → 6.9.4-1
• ros-rolling-rcutils-dbgsym: 6.9.3-1 → 6.9.4-1
• ros-rolling-realtime-tools: 3.1.0-1 → 4.0.0-1
• ros-rolling-realtime-tools-dbgsym: 3.1.0-1 → 4.0.0-1
• ros-rolling-rmw: 7.5.1-1 → 7.6.0-1
• ros-rolling-rmw-dbgsym: 7.5.1-1 → 7.6.0-1
• ros-rolling-rmw-implementation-cmake: 7.5.1-1 → 7.6.0-1
• ros-rolling-ros2action: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2bag: 0.29.0-1 → 0.31.0-1
• ros-rolling-ros2cli: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2cli-test-interfaces: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2cli-test-interfaces-dbgsym: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2component: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2doctor: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2interface: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2lifecycle: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2lifecycle-test-fixtures: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2lifecycle-test-fixtures-dbgsym: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2multicast: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2node: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2param: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2pkg: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2run: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2service: 0.36.1-1 → 0.37.0-1
• ros-rolling-ros2topic: 0.36.1-1 → 0.37.0-1
• ros-rolling-rosbag2: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-compression: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-compression-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-compression-zstd: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-compression-zstd-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-cpp: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-cpp-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-examples-cpp: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-examples-cpp-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-examples-py: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-interfaces: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-interfaces-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-performance-benchmarking: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-performance-benchmarking-msgs: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-py: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-storage: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-storage-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-storage-default-plugins: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-storage-mcap: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-storage-mcap-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-storage-sqlite3: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-storage-sqlite3-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-test-common: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-test-msgdefs: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-test-msgdefs-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-tests: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-transport: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosbag2-transport-dbgsym: 0.29.0-1 → 0.31.0-1
• ros-rolling-rosidl-typesupport-c: 3.3.1-1 → 3.3.2-1
• ros-rolling-rosidl-typesupport-c-dbgsym: 3.3.1-1 → 3.3.2-1
• ros-rolling-rosidl-typesupport-cpp: 3.3.1-1 → 3.3.2-1
• ros-rolling-rosidl-typesupport-cpp-dbgsym: 3.3.1-1 → 3.3.2-1
• ros-rolling-rqt: 1.8.0-1 → 1.9.0-1
• ros-rolling-rqt-graph: 1.6.1-1 → 1.7.0-1
• ros-rolling-rqt-gui: 1.8.0-1 → 1.9.0-1
• ros-rolling-rqt-gui-cpp: 1.8.0-1 → 1.9.0-1
• ros-rolling-rqt-gui-cpp-dbgsym: 1.8.0-1 → 1.9.0-1
• ros-rolling-rqt-gui-py: 1.8.0-1 → 1.9.0-1
• ros-rolling-rqt-py-common: 1.8.0-1 → 1.9.0-1
• ros-rolling-rqt-py-console: 1.3.0-1 → 1.4.0-1
• ros-rolling-rqt-service-caller: 1.3.0-1 → 1.4.0-1
• ros-rolling-rviz-assimp-vendor: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-common: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-common-dbgsym: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-default-plugins: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-default-plugins-dbgsym: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-ogre-vendor: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-ogre-vendor-dbgsym: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-rendering: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-rendering-dbgsym: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-rendering-tests: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz-visual-testing-framework: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz2: 14.4.1-1 → 14.4.2-1
• ros-rolling-rviz2-dbgsym: 14.4.1-1 → 14.4.2-1
• ros-rolling-smclib: 4.1.0-1 → 4.1.2-1
• ros-rolling-sqlite3-vendor: 0.29.0-1 → 0.31.0-1
• ros-rolling-tile-map: 2.4.4-1 → 2.4.5-1
• ros-rolling-tile-map-dbgsym: 2.4.4-1 → 2.4.5-1
• ros-rolling-ur-calibration: 3.0.1-1 → 3.0.2-1
• ros-rolling-ur-calibration-dbgsym: 3.0.1-1 → 3.0.2-1
• ros-rolling-ur-client-library: 1.5.0-1 → 1.6.0-1
• ros-rolling-ur-client-library-dbgsym: 1.5.0-1 → 1.6.0-1
• ros-rolling-ur-controllers: 3.0.1-1 → 3.0.2-1
• ros-rolling-ur-controllers-dbgsym: 3.0.1-1 → 3.0.2-1
• ros-rolling-ur-dashboard-msgs: 3.0.1-1 → 3.0.2-1
• ros-rolling-ur-dashboard-msgs-dbgsym: 3.0.1-1 → 3.0.2-1
• ros-rolling-ur-description: 3.0.0-1 → 3.0.1-1
• ros-rolling-ur-robot-driver: 3.0.1-1 → 3.0.2-1
• ros-rolling-ur-robot-driver-dbgsym: 3.0.1-1 → 3.0.2-1
• ros-rolling-zstd-vendor: 0.29.0-1 → 0.31.0-1

Removed Packages [18]:

• ros-rolling-battery-state-broadcaster
• ros-rolling-battery-state-broadcaster-dbgsym
• ros-rolling-canopen-ros2-controllers
• ros-rolling-canopen-ros2-controllers-dbgsym
• ros-rolling-canopen-tests
• ros-rolling-kinova-gen3-6dof-robotiq-2f-85-moveit-config
• ros-rolling-kinova-gen3-7dof-robotiq-2f-85-moveit-config
• ros-rolling-kortex-description
• ros-rolling-moveit-servo
• ros-rolling-moveit-servo-dbgsym
• ros-rolling-performance-test
• ros-rolling-performance-test-dbgsym
• ros-rolling-picknik-reset-fault-controller
• ros-rolling-picknik-reset-fault-controller-dbgsym
• ros-rolling-picknik-twist-controller
• ros-rolling-picknik-twist-controller-dbgsym
• ros-rolling-ur
• ros-rolling-ur-moveit-config

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:

• Addisu Z. Taddese
• Alejandro Hernandez
• Alejandro Hernandez Cordero
• Alejandro Hernández
• Audrow Nash
• Automatika Robotics
• Bence Magyar
• Berkay Karaman
• Brandon Ong
• Chris Lalancette
• Daniel Stonier
• Dharini Dutia
• Felix Exner
• Felix Messmer
• Foxglove
• Geoffrey Biggs
• George Stavrinos
• Jose Luis Blanco-Claraco
• Jose-Luis Blanco-Claraco
• M. Fatih Cırıt
• Michael Orlov
• ROS Tooling Working Group
• Ryohsuke Mitsudome
• Shane Loretz
• Southwest Research Institute
• Tyler Weaver
• Yukihiro Saito
• geoff

2 posts - 2 participants

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Dear ROS Community,

It is bittersweet to announce that Gazebo Classic (Gazebo11) has reached end-of-life (EOL). It was released in January, 2020 and was a Long Term Supported (LTS) release with support lasting 5 years. This is a significant EOL in that, going forward only versions of modern Gazebo will be supported by the Gazebo team. As of today all versions of Gazebo Classic, denoted by numbered release names, are end of life. We recommend that users upgrade to Gazebo Harmonic or Gazebo Fortress as soon as reasonably possible.

Gazebo Classic introduced many exciting features, including SDFormat 1.7 frame semantics, Support for BVH skeletal animations, Slow motion / sped up log playback, and Tracked vehicles with flippers to name a few. See the entire list of features on the release blog post and on the source changelog.

What does End of Life Mean?

Users often ask us, “what does end of life mean?” To put it briefly, end of life means that the Gazebo team will no longer support that particular Gazebo release. In practical terms, this means that we will no longer be providing the following for Gazebo Classic:

• New features or capabilities
• Security updates
• Bug fixes, patches or support
• Updated binaries

It is also worth noting the things that won’t change after Gazebo Classic goes end of life:

• Gazebo Classic binaries will not suddenly disappear
• Users will not need to migrate immediately, but they should migrate as soon as possible

Why do we End of Life Gazebo releases?

We End of Life particular Gazebo releases for the same reason that most people don’t use Windows XP or an iPhone 4 anymore: better versions of the software are now available and we simply don’t have the resources to support every Gazebo release into perpetuity. Marking a particular version of Gazebo end of life frees up resources to help support newer and better versions of the software. More to the point, the underlying packages and operating system (Ubuntu Focal) used by Gazebo Classic also goes end of life in April 2025.

How do I upgrade to a newer version of Gazebo and which one should I use?

We recommend that Gazebo Classic users upgrade to the latest long term support release of modern Gazebo, Gazebo Harmonic. Gazebo Harmonic works best on Ubuntu Jammy (22.04) and Ubuntu Noble (24.04) and will be supported until September of 2028. Gazebo Classic users who still use ROS 1 will also need to upgrade to ROS 2 Jazzy to use Gazebo Harmonic. It is worth noting that all of ROS 1, including ROS 1 Noetic, will go end of life on May 23rd, 2025. Our internal estimates indicate that over 80% of the ROS community has already upgraded to ROS 2, and 67% of Gazebo users have already upgraded to modern Gazebo.

The modern Gazebo documentation includes a variety of guides and tutorials on how to migrate your project from Gazebo Classic to modern Gazebo. Similarly, the ROS 2 documentation provides step by step instructions on how to migrate your ROS 1 project to ROS 2. If you get stuck during migration, we would encourage you to use the Open Robotics Discord, the Gazebo Sim Community, and Robotics Stack Exchange to find help.

Help Spread the Word

We realize that many Gazebo Classic users don’t really track Gazebo end of life dates, or regularly visit Gazebosim Community, that’s why we’ve decided to include some notifications about Gazebo Classic’s end of life in our latest update. After updating to the latest release, Gazebo Classic users will be notified via debug output and a banner of end of life status. These warnings can be suppressed by simply setting a “GAZEBO_SUPPRESS_EOL_WARNING” environment variable.

We would appreciate the community’s help in spreading the word about the Gazebo Classic End of Life. If you work on a team that is still using Gazebo Classic please take a moment in the next week or two to discuss upgrade paths with your team and the importance of upgrading as soon as possible.

Supporting Libraries Reaching EOL

As part of the Gazebo Classic EOL, the following Gazebo libraries have also reached end-of-life. Their latest released binaries will remain available at http://packages.osrfoundation.org/, but no more fixes or releases will be made.

We sincerely thank everyone in the community that has contributed to Gazebo Classic

Gazebo Dev Team

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Community Page

Meeting Link

Calendar Link

2025-02-06T15:00:00Z UTC

This month Aaron Chong will present on how to leverage the new MicroApp architecture of rmf-web to make custom dashboards for fleet management.

MicroApps are React components used to customize the rmf-web dashboard. This talk will go through what MicroApps are, how they can be built, and how to integrate them with an existing rmf-web dashboard. We will also go through some of the MicroApps that already come with the rmf-dashboard-framework, and how they interact with an Open-RMF deployment.

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The OSRA’s Technical Governance Committee has begun 2025 with the election of several new members to represent various different parts of the OSRA and to rebalance it after the growth in OSRA members during 2024. The new membership of the TGC is:

• Addisu Taddese, Intrinsic (Gazebo Project Leader)
• Clara Berendsen, Ekumen (Infrastructure Project Representative)
• Daniel Gordon, Huawei (Gold Representative)
• David Lu!! (Supporting Individual Representative)
• Geoffrey Biggs, OSRF (TGC Chair)
• Hemal Shah, NVIDIA (Platinum Member Representative)
• Henkel Christian, Bosch (Gold Representative)
• Kat Scott, Intrinsic (Developer Relations Representative)
• Maria Carolina Vergo, ROS-Industrial (Silver Representative)
• Michael Carrol, Intrinsic (Interim ROS Project Leader)
• Michael Grey, Intrinsic (Open-RMF Project Leader)
• Michel Hidalgo, Ekumen (Silver Representative)
• Sathish Mani, Qualcomm Technologies (Platinum Member Representative)
• Steve Peters, Intrinsic (Gazebo Project Representative)
• Steven! Ragnarok, Intrinsic (Infrastructure Project Leader)
• Tully Foote, Intrinsic (Platinum Member Representative)
• Vanessa Yamzon Orsi, OSRF (Secretary)
• Vicky Brasseur (OSRA Open Governance Advisor)
• Yadunund Vijay, Intrinsic (Open-RMF Project Representative)

I’d like to thank all those who have volunteered their time to help guide the OSRA. I’d also like to thank those members who stepped down recently for contributing to the TGC’s first 8 months of operation and helping to get the OSRA off to such a great start.

• Angelo Corsaro, Zettascale
• Christine Fraser, Asimovo
• Jason Higgins, Clearpath Robotics
• Andra Keay, Silicon Valley Robotics
• Chris Lalancette, Intrinsic
• Steve Macenski, Open Navigation

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The meeting minutes for the regular meeting of the Technical Governance Committee held on the 19th of December, 2024, were approved in the January meeting and are now available in the official minutes repository. You can find the complete minutes here.

The TGC received the monthly project and technical committee updates, including notice that REP-2000 is undergoing updates in preparation for the Kilted Kaiju release and that the ROS PMC has established its first working group, the Client Libraries Working Group, led by Alberto Soragna. The Infrastructure project reported that the infrastructure is undergoing upgrades to Ubuntu 24.04.

In this meeting, the TGC was presented with the results of the work done by its Technical Committee on Use in Projects of Submissions Produced by Generative AI. The TC has produced a complete policy, along with guidance. The TGC discussed the proposal, and is due to vote on its adoption shortly.

The next TGC meeting will take place in February, 2025. The minutes of the January meeting should be approved in that meeting and posted publicly shortly thereafter.

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ROS News for the Week of January 27th, 2025

It finally happened, ROS 2 now runs Doom now!

Gazebo Classic goes End-Of-Life today! We need a few more days to push out the final updates, but those should be out next week. The good news is that if you are using Gazebo Classic and Nav2 there is now a full upgrade guide! (Thanks @smac and crew, we really appreciate this!)

Are you a ROS 2 user that misses ROSMon? Check out this beta release of ROS 2 Launch GUI. This new utility will let you interactively launch and monitor your ROS 2 application.

ROSCon JP 2025 has been announced! ROSConJP will happen September 9th, in Nagoya!

Events

• 2025-02-01 FOSDEM 25 – See Robotics and Sim Room
• 2025-02-03 ROS Deliberation Community Group Meeting - Feb 3, 2025
• 2025-02-04 => 2025-02-06 World FIRA Ag Robotics Conference in Toulouse, France
• 2025-02-05 Bots & Beer Is Back Baby!
• 2025-02-07 Bracket Bot Hackathon
• 2025-02-12 Embodied AI Community Group #4
• 2025-02-11 Zenoh Advanced Features Workshop w/ Zettascale – Calendar Invite
• 2025-02-22 Pan-African Robotics Competition Deadline
• 2025-02-27 Zürich Robotics Meetup
• 2025-04-28 International Workshop on Robotics Software Engineering
• 2025-05-23 ICRA 2025 Advancing Quantitative and QUAlitative SIMulators for marine applications
• 2025-05-30 => 2025-05-31 2025 Open Hardware Summit in Edinburgh

News

• Google Summer of Code - Call for Mentors
• Intermodalics: Proud to be joining the Open Source Robotics Alliance!
• FOSDEM 2025 Robotics Devroom Schedule
• ROSConJP 2025 Announced
• Top 10 robotics developments of January 2025
• Shadow Robot DEX-EE hand takes manipulation to next level
• Miso Robotics refines Flippy Fry Station with AI and partners
• Ambi Robotics built a clever solution to automate pallet packing
• 10 technologies to avoid when building a robot

ROS

• It finally happened: DOOM ROS
• New Packages for Noetic 2025-01-30
• Nav2 New (Modern) Gazebo Getting Started Guide!
• Rosbag2 to pcd converter/exporter
• Announcing Ros2TraceAnalyzer: Fast tool to analyze and visualize timing of ROS 2 applications
• Next ROS Medical talk announced! space x medical robotics
• Impending removal of the Windows Debug CI job and packages
• ROS 2 launch GUI
• Mitsubishi Electric ROS2 Community Discussion
• Announcing transAct: An open-source robot fleet management dashboard template
• Community meeting: Migration of Stretch robot to Gazebo Sim Harmonic
• Tightly-coupled LiDAR-IMU-wheel odometry with an online neural kinematic model learning via factor graph optimization - ScienceDirect
• ICRA 2025 Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion
• OpenCV: Object Insertion in Gaussian Splatting
• An unofficial open source implentation of CSIRO’s Wildcat SLAM.
• FOSDEM 2025 - Eclipse Zenoh: Understanding the Protocol and its Potential in Robotic
• Autonomous Vehicle Control Beginners Guide
• FFMPEG Assembly Language Lessons
• DynoSAM: Dynamic Object Smoothing and Mapping for Dynamic SLAM
• A Software Stack for Autonomous Racing on Oval and Road Course Tracks
• Underwater Networks – SIGNET Research Group
• An async first Rust client for ROS supporting multiple backends: ROS 1, rosbridge, and Zenoh.

Want to Mentor a Student?

We are now looking for Google Summer of Code mentors for ROS and Gazebo. We need FOSS developers who are willing to spend this summer helping students learn our trade. See the post above for more details.

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������������� has been sailing along with ROS since C Turtle - and this week, we became a member of the ���� ������ �������� ��������! They take care of ��� as no one else can. We will support them for many years to come!

Here’s a nice drawing (no video allowed here) to celebrate:

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We’re happy to announce 0 new packages and 13 updates are now available in ROS Noetic. This sync was tagged as noetic/2025-01-30.

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

Package Updates for ROS Noetic

Added Packages [0]:

Updated Packages [13]:

• ros-noetic-costmap-cspace: 0.17.3-1 → 0.17.4-1
• ros-noetic-grpc: 0.0.12-2 → 0.0.14-1
• ros-noetic-joystick-interrupt: 0.17.3-1 → 0.17.4-1
• ros-noetic-map-organizer: 0.17.3-1 → 0.17.4-1
• ros-noetic-neonavigation: 0.17.3-1 → 0.17.4-1
• ros-noetic-neonavigation-common: 0.17.3-1 → 0.17.4-1
• ros-noetic-neonavigation-launch: 0.17.3-1 → 0.17.4-1
• ros-noetic-obj-to-pointcloud: 0.17.3-1 → 0.17.4-1
• ros-noetic-planner-cspace: 0.17.3-1 → 0.17.4-1
• ros-noetic-safety-limiter: 0.17.3-1 → 0.17.4-1
• ros-noetic-track-odometry: 0.17.3-1 → 0.17.4-1
• ros-noetic-trajectory-tracker: 0.17.3-1 → 0.17.4-1
• ros-noetic-ur-client-library: 1.5.0-1 → 1.6.0-1

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:

• Atsushi Watanabe
• Felix Exner
• Shengye Wang

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First, what a great turnout for the in-person Birds of Feather at ROSCon in Denmark. Standing room only, but that was perfect for some lively, collaborative discussions about using ROS in medical devices… how BoFs should be!
I couldn’t fit everyone in one pic but you can see why we’re grateful to ROSCon organisers to have had the chance to meet in-person!!

---

The ROS Medical Community is very excited for our next event about PickNik’s hands-on experience using ROS in the space and medical domains.

How do people trust ROS in space? And how can that transfer to the medical domain?

Nathan Brooks, CTO of PickNik, joins us to explain the overlap with PickNik’s goals to use ROS in space and goals of the ROS medical community. Topics covered include a certifiable version of MoveIt!, tools useful in the certification process, and general robotics architecture design for mission-critical systems.

No doubt of equal interest to those new to medical software, right up to med experts curious about robotics in NASA/commercial space, and everyone in between.

2025-02-24T17:00:00Z UTC, virtual

Add it to your calendar: https://bit.ly/ros-med-space

Sign up to this mailing list to receive invites to our future events.

---

Also: ROSCon talks on ROS 2 in the medical context
Recordings now available for these ROSCon 2024 talks by community leaders:

• (Keynote) Saving lives sooner: leveraging ROS 2 for end-stage kidney disease by Deanna Hood Keynote: Saving lives sooner: leveraging ROS 2 for end-stage kidney disease with Deanna Hood
• Enabling ROS 2 Benchmarks: A Medical Robotics Perspective by Marco Pedretti and Shashank Sharma Enabling ROS2 Benchmarks: A Medical Robotics Perspective

Looking forward to seeing everyone at the next community event!

Deanna

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TLDR: GSoC 2025 has kicked off, and the OSRF is once again hosting projects. If you have a project and want to mentor someone, please get in touch by emailing gsoc@openrobotics.org!

---

The Open Source Robotics Foundation is planning on participating in Google Summer of Code 2025. We are now putting out a call for mentors. We need people to volunteer to mentor one or more projects and participants throughout the GSoC period.

By being a GSoC mentor, you will be contributing to a large technical contribution to one of the OSRF’s projects, but more importantly you will be contributing to the growth in expertise and experience of a new engineer! Being a mentor is very rewarding work, and we have seen many of our previous GSoC participants go on to be important long-term members of the community and long-term contributors.

Information on what it takes to be a mentor can be found on the GSoC website:

• Video
• Guide
• Full GSoC timeline

If you are interested in mentoring a GSoC participant this year, then please get in touch by emailing us at gsoc@openrobotics.org! Please describe why you want to mentor with the OSRF, what qualifies you to be a mentor, and what projects you wish to offer. For each project, please include the following information, in this bullet-list format.

• List of prerequisites
• Description of necessary programming skills
• Difficulty level
• List of potential mentors
• Expected size
• Expected outcome
• Detailed description

For examples of projects that the OSRF has hosted in previous years, take a look at this page.

We are open to mentors until February 9th, 2025 at 18:00 UTC.

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Has anyone figured out a way to get a language server like pyright to work with ros2 python messages? Normally if you have a class like this

class MyRosMessage:
    def __init__(x: float, y: float, z: float):
        ...
my_ros_message = MyRosMessage(x=1.0, y=2.0, z=3)

My LSP will warn me that z is an int when it should be a float.

However I noticed that the ROS2 implementation of Python ROS messages is as such:

class MyRosMessage:
    def __init__(kwargs**):
        ...
        self.x = kwargs.get('x', float())
        self.y = kwargs.get('y', float())
        self.z = kwargs.get('z', float())

    @x.setter
    def x(self, value):
        if __debug__:
            assert \
                isinstance(value, float), \
                "The 'x' field must be of type 'float'"
            assert not (value < -1.7976931348623157e+308 or value > 1.7976931348623157e+308) or math.isinf(value), \
                "The 'x' field must be a double in [-1.7976931348623157e+308, 1.7976931348623157e+308]"
        self._x = value

# This line will throw an assertion error. pyright will not warn you about this mistake.
my_ros_message = MyRosMessage(x=1.0, y=2.0, z=3)

Is there any way to make a language server understand the the code above will throw an exception before hand? Is there an easy way to modify the ROS2 message generation to include type hinting in the setter or something like such?

class MyRosMessage:
...

    @x.setter
    def x(self, value: float):
...

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After an extended holiday break, the next ROS Deliberation Community Group meeting will be on 2025-02-03T15:00:00Z UTC.

Google Meet link: https://meet.google.com/njs-ieym-dgk

Agenda:

• Deliberation tool spotlight: AIPlan4EU Unified Planning Library
• Migrating the ROSCon 2024 Workshop repo to a community-maintained, self-serve resource
• Group discussions:
  • Machine Learning + deliberation solutions in ROS 2
  • Topic ideas for subsequent 2025 meetings

For the tool spotlight and group discussion topics, it would be fantastic to get input from people who have relevant experience. I also believe it’s a great opportunity to promote your work and set up presentations/learning sessions for future meetings.

Feel free to propose additional agenda items, join the mailing list, or the Discord server.

- Sebastian

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ROS News for the Week of January 20th, 2025

We have three different ROS events scheduled next week and we would love for you to join us!

• 2025-01-29 ROS / OpenCV Meetup @ Photonics West SF
• 2025-01-29 Gazebo Community Meeting
• 2025-01-30 ROS By-The-Bay January 2025

I don’t have a great image for this item, Zig doesn’t have a fancy mascot like Rust , but I want to call your attention to ZigROS, a way to build ROS with the zig build system.

LG has acquired a majority share of Bear Robotics. Bear Robotics builds food delivery robots for restaurants and they have been ROS users for years. Additional reporting on the acquisition at TechCrunch

Thanks to the hard work of @rkent ROS Index has a number of new improvements, including faster search, an updated UI, extending search to read me files, and a whole lot more. @rkent has been working on these pull requests for a long time and we really appreciate his patience and determination.

Events

• 2025-01-28 Space ROS Club Japan
• 2025-01-29 ROS / OpenCV Meetup @ Photonics West SF
• 2025-01-29 Gazebo Community Meeting – Stretch Robot Simulation in Harmonic
• 2025-01-30 ROS By-The-Bay January 2025
• 2025-02-01 FOSDEM 25 – See Robotics and Sim Room
• 2025-02-04 => 2025-02-06 World FIRA Ag Robotics Conference in Toulouse, France
• 2025-02-05 Bots & Beer Is Back Baby!
• 2025-02-12 Embodied AI Community Group #4
• 2025-02-11 Zenoh Advanced Features Workshop w/ Zettascale – Calendar Invite
• 2025-02-27 Zürich Robotics Meetup
• 2025-04-28 International Workshop on Robotics Software Engineering
• 2025-05-30 => 2025-05-31 2025 Open Hardware Summit in Edinburgh

News

• Clearpath Robotics Reaffirms Commitment to TurtleBot 4 Support
• Ati Motors brings in $20M to expand presence in the U.S., APAC – TechCrunch
• LG Acquires Majority Stake in Bear Robotics to Bolster Robotics Capabilities – TechCrunch
• Video Friday
• MoveIt Pro 7.0 is Released – Robot Report
• MassRobotics opens applications for 2025 Form and Function Robotics Challenge
• Primech AI improves HYTRON cleaning robot performance with NVIDIA tech
• CES 2025 recap: Noteworthy robots at this year’s show
• Meta’s Yann LeCun predicts ‘new paradigm of AI architectures’ within 5 years and ‘decade of robotics’
• Call for Applications: IEEE/IFR Innovation and Entrepreneurship Award 2025
• FOSDEM 2025 Robotics Devroom Schedule
• ROS-I Developers Meeting
• Robot Assisted Knee Surgery
• Building a backbone for a scalable way to roll out robotics software
• Audrow Nash Podcast: Advancing Robot Hardware Innovation through ARIA’s New UK Research Initiative
• FOSDEM 2025 - Robotics and Simulation
• IEEE ICRA 2025 registration now open

ROS

• ROS2 + micros-ros control design, where to run what
• Announcing transAct: An open-source robot fleet management dashboard template
• Announcing ZigROS! build ROS with the zig build system
• Griswald Brooks: Robotics Simulation for better Development
• ROS 1 to ROS 2 Migration
• Mitsubishi Electric ROS2 Community Discussion
• Video: Aerial Robotics Meeting - January 22nd 2025
• Guidance on Warehouse Automation Using OpenRMF and Conveyor Traffic Management - Multi-Robot Systems
• A library for inverse dynamics computation - where to contribute?
• Localization using only 2D LiDAR scan point clouds with deep learning techniques
• Nav2 Speedups in MPPI & Smac Planner
• New packages for Humble Hawksbill 2025-01-21
• New Packages for Jazzy Jalisco 2025-01-20
• Speeding up Python nodes with the Bit-Bots TF Buffer
• Customizable Template for Docker Environment Setup
• Development of a user-friendly ROS 2 GTK4 GUI with Adwaita theme
• Controller for 4 wheeled swerve robot
• Visualize 2D ROS Map in 3D on the web
• Dear RosNodeViewer: Visualize ROS 2 Node Graph – docs
• Learning-Based On-Track System Identification for Scaled Autonomous Racing in Under a Minute – source
• Mujoco Playground
• OpenYOLO3D SOTA performance in Open Vocabulary 3D Instance Segmentation on ScanNet200 – paper
• A neuromechanics solution for adjustable robot compliance and accuracy
• Setting The Stage For Open Source Sonar Development
• ManiSkill-HAB A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks
• Learning-based Kinematic Model Trained Online along with LiDAR-IMU-Wheel Odometry on a Factor Graph
• Tightly-Coupled LiDAR-IMU-Wheel Odometry with an Online Neural Kinematic Model Learning via Factor Graph Optimization
• Bracket Bot
• micro-ROS with an ESP32 board - publish Wi-Fi scan data and a service.
• Robotics Class Is Open on Hackaday
• RMW Zenoh Workshop
• pySLAM SLAM pipeline updates

Got a Minute?

Here are couple of easy issues on docs.ros.org that need attention. Why not take a moment to become a ROS contributor instead of just a ROS user?

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Hi ROS community,

I am the developer and maintainer for Mitsubishi Electric ROS2 Driver.

In our efforts to continue our commitment to democratize MELFA robots and participate in Open-Source robotics, I would like to start an open discussion with the community. Any ROS and open-source robotics topics are welcomed.

I would like to start the ball rolling with a few topics:

1. which robots do you want us to add to our MELFA ROS2 Driver?
2. what kind of existing functionality would you like to see in our MELFA ROS2 Driver?
3. In the coming months, I will be releasing repositories with tutorials & documentation for MELSEC Programmable Logic Controller ROS2 compatibility and GOT-Human Machine Interface ROS2 compatibility via the MELFA ROS2 Driver. If there’s a Mitsubishi Electric product that you want to use for your ROS2 project, feel free to reply as well or contact me directly.

• Please do not request for a return of the Lancer Evo

If you have another topic that you would like to discuss, feel free to start a discussion in this thread. If you prefer to contact me directly, you can send me an email at muyao.liu@asia.meap.com

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Please come and join us for this coming meeting at 2025-01-27T17:00:00Z UTC→2025-01-27T18:00:00Z UTC, where we will locate and work through some KubeEdge examples. We will note down our feedback and provide it to Tomoya Fujita, who gave a talk in a previous session about KubeEdge and some related technologies. If you’re interested to see the talk, we have published it on YouTube.

Last meeting, we had a general catchup, including discussing NVIDIA Cosmos, the proliferation of humanoid robotics at present, and what cloud robotics encompasses - to name a few subjects. If you are interested to see the meeting, the recording is available on YouTube.

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 YouTube 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 or keep an eye on the Cloud Robotics Hub.

Hopefully we will see you there!

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Package Updates for Humble

Added Packages [24]:

• ros-humble-automatika-ros-sugar: 0.2.6-1
• ros-humble-automatika-ros-sugar-dbgsym: 0.2.6-1
• ros-humble-autoware-internal-debug-msgs: 1.3.0-1
• ros-humble-autoware-internal-debug-msgs-dbgsym: 1.3.0-1
• ros-humble-autoware-internal-perception-msgs: 1.3.0-1
• ros-humble-autoware-internal-perception-msgs-dbgsym: 1.3.0-1
• ros-humble-coal: 3.0.0-1
• ros-humble-coal-dbgsym: 3.0.0-1
• ros-humble-feetech-ros2-driver: 0.1.0-2
• ros-humble-feetech-ros2-driver-dbgsym: 0.1.0-2
• ros-humble-generate-parameter-library-example-external: 0.4.0-1
• ros-humble-generate-parameter-library-example-external-dbgsym: 0.4.0-1
• ros-humble-gpio-controllers: 2.41.0-1
• ros-humble-gpio-controllers-dbgsym: 2.41.0-1
• ros-humble-mola-state-estimation: 1.6.1-1
• ros-humble-mola-state-estimation-simple: 1.6.1-1
• ros-humble-mola-state-estimation-simple-dbgsym: 1.6.1-1
• ros-humble-mola-state-estimation-smoother: 1.6.1-1
• ros-humble-mola-state-estimation-smoother-dbgsym: 1.6.1-1
• ros-humble-py-trees-ros-viewer: 0.2.5-1
• ros-humble-rmw-zenoh-cpp: 0.1.0-1
• ros-humble-rmw-zenoh-cpp-dbgsym: 0.1.0-1
• ros-humble-zenoh-cpp-vendor: 0.1.0-1
• ros-humble-zenoh-cpp-vendor-dbgsym: 0.1.0-1

Updated Packages [282]:

• ros-humble-ackermann-steering-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-ackermann-steering-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-admittance-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-admittance-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-autoware-internal-msgs: 1.1.0-1 → 1.3.0-1
• ros-humble-autoware-internal-msgs-dbgsym: 1.1.0-1 → 1.3.0-1
• ros-humble-bicycle-steering-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-bicycle-steering-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-camera-ros: 0.2.1-1 → 0.3.0-1
• ros-humble-camera-ros-dbgsym: 0.2.1-1 → 0.3.0-1
• ros-humble-chomp-motion-planner: 2.5.6-1 → 2.5.7-1
• ros-humble-chomp-motion-planner-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-clearpath-common: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-config: 1.0.0-1 → 1.1.0-1
• ros-humble-clearpath-control: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-customization: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-description: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-generator-common: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-generator-common-dbgsym: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-manipulators: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-manipulators-description: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-mounts-description: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-platform-description: 1.0.0-1 → 1.1.1-1
• ros-humble-clearpath-sensors-description: 1.0.0-1 → 1.1.1-1
• ros-humble-control-toolbox: 3.4.0-1 → 3.6.0-1
• ros-humble-control-toolbox-dbgsym: 3.4.0-1 → 3.6.0-1
• ros-humble-controller-interface: 2.46.0-1 → 2.47.0-1
• ros-humble-controller-interface-dbgsym: 2.46.0-1 → 2.47.0-1
• ros-humble-controller-manager: 2.46.0-1 → 2.47.0-1
• ros-humble-controller-manager-dbgsym: 2.46.0-1 → 2.47.0-1
• ros-humble-controller-manager-msgs: 2.46.0-1 → 2.47.0-1
• ros-humble-controller-manager-msgs-dbgsym: 2.46.0-1 → 2.47.0-1
• ros-humble-depthai: 2.28.0-1 → 2.29.0-1
• ros-humble-depthai-bridge: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-bridge-dbgsym: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-dbgsym: 2.28.0-1 → 2.29.0-1
• ros-humble-depthai-descriptions: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-examples: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-examples-dbgsym: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-filters: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-filters-dbgsym: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-ros: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-ros-driver: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-ros-driver-dbgsym: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-ros-msgs: 2.10.4-1 → 2.10.5-1
• ros-humble-depthai-ros-msgs-dbgsym: 2.10.4-1 → 2.10.5-1
• ros-humble-diff-drive-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-diff-drive-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-effort-controllers: 2.39.0-1 → 2.41.0-1
• ros-humble-effort-controllers-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-examples-tf2-py: 0.25.9-1 → 0.25.11-1
• ros-humble-force-torque-sensor-broadcaster: 2.39.0-1 → 2.41.0-1
• ros-humble-force-torque-sensor-broadcaster-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-forward-command-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-forward-command-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-generate-parameter-library: 0.3.9-1 → 0.4.0-1
• ros-humble-generate-parameter-library-example: 0.3.9-1 → 0.4.0-1
• ros-humble-generate-parameter-library-example-dbgsym: 0.3.9-1 → 0.4.0-1
• ros-humble-generate-parameter-library-py: 0.3.9-1 → 0.4.0-1
• ros-humble-generate-parameter-module-example: 0.3.9-1 → 0.4.0-1
• ros-humble-geometry2: 0.25.9-1 → 0.25.11-1
• ros-humble-gripper-controllers: 2.39.0-1 → 2.41.0-1
• ros-humble-gripper-controllers-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-hardware-interface: 2.46.0-1 → 2.47.0-1
• ros-humble-hardware-interface-dbgsym: 2.46.0-1 → 2.47.0-1
• ros-humble-hardware-interface-testing: 2.46.0-1 → 2.47.0-1
• ros-humble-hardware-interface-testing-dbgsym: 2.46.0-1 → 2.47.0-1
• ros-humble-imu-sensor-broadcaster: 2.39.0-1 → 2.41.0-1
• ros-humble-imu-sensor-broadcaster-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-joint-limits: 2.46.0-1 → 2.47.0-1
• ros-humble-joint-limits-dbgsym: 2.46.0-1 → 2.47.0-1
• ros-humble-joint-state-broadcaster: 2.39.0-1 → 2.41.0-1
• ros-humble-joint-state-broadcaster-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-joint-trajectory-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-joint-trajectory-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-kitti-metrics-eval: 1.3.0-1 → 1.5.1-1
• ros-humble-kitti-metrics-eval-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-bridge-ros2: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-bridge-ros2-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-demos: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-imu-preintegration: 1.3.0-1 → 1.6.1-1
• ros-humble-mola-imu-preintegration-dbgsym: 1.3.0-1 → 1.6.1-1
• ros-humble-mola-input-euroc-dataset: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-euroc-dataset-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-kitti-dataset: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-kitti-dataset-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-kitti360-dataset: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-kitti360-dataset-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-mulran-dataset: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-mulran-dataset-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-paris-luco-dataset: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-paris-luco-dataset-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-rawlog: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-rawlog-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-rosbag2: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-input-rosbag2-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-kernel: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-kernel-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-launcher: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-launcher-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-lidar-odometry: 0.3.3-1 → 0.5.4-1
• ros-humble-mola-lidar-odometry-dbgsym: 0.3.3-1 → 0.5.4-1
• ros-humble-mola-metric-maps: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-metric-maps-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-msgs: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-msgs-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-pose-list: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-pose-list-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-relocalization: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-relocalization-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-test-datasets: 0.3.4-1 → 0.4.0-1
• ros-humble-mola-traj-tools: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-traj-tools-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-viz: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-viz-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-yaml: 1.3.0-1 → 1.5.1-1
• ros-humble-mola-yaml-dbgsym: 1.3.0-1 → 1.5.1-1
• ros-humble-moveit: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-chomp-optimizer-adapter: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-chomp-optimizer-adapter-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-common: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-configs-utils: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-core: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-core-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-hybrid-planning: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-hybrid-planning-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-kinematics: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-kinematics-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-planners: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-planners-chomp: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-planners-chomp-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-planners-ompl: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-planners-ompl-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-plugins: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-resources-prbt-moveit-config: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-resources-prbt-pg70-support: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-resources-prbt-support: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-benchmarks: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-benchmarks-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-control-interface: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-control-interface-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-move-group: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-move-group-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-occupancy-map-monitor: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-occupancy-map-monitor-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-perception: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-perception-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-planning: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-planning-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-planning-interface: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-planning-interface-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-robot-interaction: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-robot-interaction-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-visualization: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-visualization-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-warehouse: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-ros-warehouse-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-runtime: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-servo: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-servo-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-app-plugins: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-app-plugins-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-assistant: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-assistant-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-controllers: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-controllers-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-core-plugins: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-core-plugins-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-framework: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-framework-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-srdf-plugins: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-setup-srdf-plugins-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-simple-controller-manager: 2.5.6-1 → 2.5.7-1
• ros-humble-moveit-simple-controller-manager-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-mp2p-icp: 1.6.3-1 → 1.6.4-1
• ros-humble-mp2p-icp-dbgsym: 1.6.3-1 → 1.6.4-1
• ros-humble-mvsim: 0.12.0-1 → 0.13.0-1
• ros-humble-mvsim-dbgsym: 0.12.0-1 → 0.13.0-1
• ros-humble-ntrip-client: 1.3.0-1 → 1.4.0-1
• ros-humble-parameter-traits: 0.3.9-1 → 0.4.0-1
• ros-humble-pid-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-pid-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-pilz-industrial-motion-planner: 2.5.6-1 → 2.5.7-1
• ros-humble-pilz-industrial-motion-planner-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-pilz-industrial-motion-planner-testutils: 2.5.6-1 → 2.5.7-1
• ros-humble-pilz-industrial-motion-planner-testutils-dbgsym: 2.5.6-1 → 2.5.7-1
• ros-humble-pose-broadcaster: 2.39.0-1 → 2.41.0-1
• ros-humble-pose-broadcaster-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-position-controllers: 2.39.0-1 → 2.41.0-1
• ros-humble-position-controllers-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-py-trees: 2.2.3-1 → 2.3.0-1
• ros-humble-py-trees-js: 0.6.4-1 → 0.6.6-1
• ros-humble-py-trees-ros: 2.2.2-3 → 2.3.0-1
• ros-humble-py-trees-ros-interfaces: 2.1.0-1 → 2.1.1-1
• ros-humble-py-trees-ros-interfaces-dbgsym: 2.1.0-1 → 2.1.1-1
• ros-humble-qml-ros2-plugin: 1.0.1-1 → 1.0.1-2
• ros-humble-qml-ros2-plugin-dbgsym: 1.0.1-1 → 1.0.1-2
• ros-humble-range-sensor-broadcaster: 2.39.0-1 → 2.41.0-1
• ros-humble-range-sensor-broadcaster-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-ros2-control: 2.46.0-1 → 2.47.0-1
• ros-humble-ros2-control-test-assets: 2.46.0-1 → 2.47.0-1
• ros-humble-ros2-controllers: 2.39.0-1 → 2.41.0-1
• ros-humble-ros2-controllers-test-nodes: 2.39.0-1 → 2.41.0-1
• ros-humble-ros2controlcli: 2.46.0-1 → 2.47.0-1
• ros-humble-rqt-controller-manager: 2.46.0-1 → 2.47.0-1
• ros-humble-rqt-joint-trajectory-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-rviz-assimp-vendor: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-common: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-common-dbgsym: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-default-plugins: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-default-plugins-dbgsym: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-ogre-vendor: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-ogre-vendor-dbgsym: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-rendering: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-rendering-dbgsym: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-rendering-tests: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz-visual-testing-framework: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz2: 11.2.14-1 → 11.2.16-1
• ros-humble-rviz2-dbgsym: 11.2.14-1 → 11.2.16-1
• ros-humble-steering-controllers-library: 2.39.0-1 → 2.41.0-1
• ros-humble-steering-controllers-library-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-tensorrt-cmake-module: 0.0.3-1 → 0.0.4-1
• ros-humble-tf2: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-bullet: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-dbgsym: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-eigen: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-eigen-kdl: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-eigen-kdl-dbgsym: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-geometry-msgs: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-kdl: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-msgs: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-msgs-dbgsym: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-py: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-py-dbgsym: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-ros: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-ros-dbgsym: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-ros-py: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-sensor-msgs: 0.25.9-1 → 0.25.11-1
• ros-humble-tf2-tools: 0.25.9-1 → 0.25.11-1
• ros-humble-transmission-interface: 2.46.0-1 → 2.47.0-1
• ros-humble-transmission-interface-dbgsym: 2.46.0-1 → 2.47.0-1
• ros-humble-tricycle-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-tricycle-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-tricycle-steering-controller: 2.39.0-1 → 2.41.0-1
• ros-humble-tricycle-steering-controller-dbgsym: 2.39.0-1 → 2.41.0-1
• ros-humble-turtlebot4-setup: 1.0.4-1 → 1.0.5-1
• ros-humble-tuw-airskin-msgs: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-airskin-msgs-dbgsym: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-geo-msgs: 0.2.3-1 → 0.2.5-1
• ros-humble-tuw-geo-msgs-dbgsym: 0.2.3-1 → 0.2.5-1
• ros-humble-tuw-geometry-msgs: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-geometry-msgs-dbgsym: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-graph-msgs: 0.2.3-1 → 0.2.5-1
• ros-humble-tuw-graph-msgs-dbgsym: 0.2.3-1 → 0.2.5-1
• ros-humble-tuw-msgs: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-multi-robot-msgs: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-multi-robot-msgs-dbgsym: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-nav-msgs: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-nav-msgs-dbgsym: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-object-map-msgs: 0.2.3-1 → 0.2.5-1
• ros-humble-tuw-object-map-msgs-dbgsym: 0.2.3-1 → 0.2.5-1
• ros-humble-tuw-object-msgs: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-object-msgs-dbgsym: 0.2.1-1 → 0.2.5-1
• ros-humble-tuw-std-msgs: 0.2.4-1 → 0.2.5-1
• ros-humble-tuw-std-msgs-dbgsym: 0.2.4-1 → 0.2.5-1
• ros-humble-ur: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-bringup: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-calibration: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-calibration-dbgsym: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-controllers: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-controllers-dbgsym: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-dashboard-msgs: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-dashboard-msgs-dbgsym: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-moveit-config: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-robot-driver: 2.2.16-5 → 2.5.1-1
• ros-humble-ur-robot-driver-dbgsym: 2.2.16-5 → 2.5.1-1
• ros-humble-velocity-controllers: 2.39.0-1 → 2.41.0-1
• ros-humble-velocity-controllers-dbgsym: 2.39.0-1 → 2.41.0-1

Removed Packages [4]:

• ros-humble-mola-navstate-fg
• ros-humble-mola-navstate-fg-dbgsym
• ros-humble-mola-navstate-fuse
• ros-humble-mola-navstate-fuse-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:

• Adam Serafin
• Alexander Gutenkunst
• Automatika Robotics
• Bence Magyar
• Benjamin Binder
• Berkay Karaman
• Blake Anderson
• Chittaranjan Srinivas Swaminathan
• Chris Lalancette
• Christian Henkel
• Christian Rauch
• Daisuke Nishimatsu
• Daniel Stonier
• David V. Lu!!
• Felix Exner
• George Todoran
• Henning Kayser
• Jacob Perron
• Jafar Uruc
• Jose Luis Blanco-Claraco
• Jose-Luis Blanco-Claraco
• Joseph Mirabel
• Luis Camero
• M. Fatih Cırıt
• Markus Bader
• Michael Görner
• MoveIt Release Team
• Paul Gesel
• Raghavender Sahdev
• Rob Fisher
• Ryohsuke Mitsudome
• Stefan Fabian
• Tyler Weaver
• Yadunund
• paul
• rkreinin

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Repo: GitHub - bit-bots/bitbots_tf_buffer: A performant non blocking rclpy tf buffer utilizing rclcpp under the hood.

Sadly, rclpy is slow. This is not only a Python problem, but also a problem of the underlying rclpy implementation. (hint: a Python based events executor is currently being developed by us, but is a story for another day).

TF2 is used in many nodes. The amount of callbacks that are triggered by TF2 can be very high, especially if there are multiple sources of TF data and you operate on a high frequency. A simple ROS 2 rclpy node can easily max out a CPU core just by processing TF data. This is especially unlucky, if TF is only used at a few places in the code for e.g. low frequency navigation or behavior operations.

This package aims to solve this problem by moving the TF buffer and listener to a C++ node that shares the process with the rclpy node. That way, the TF callbacks are processed in C++ and the Python node only needs to query the buffer for the latest transforms using a simple and performant pybind11 interface when needed.

While spinning up an additional Node is not ideal, the performance gain is significant and the overhead of the additional node is negligible compared to the performance gain. I don’t have reliable performance trials, but it brought down the CPU utilization of many nodes in our stack from 100% to ~20% CPU.

In addition to that, this solution also reduces the amount of executor deadlock scenarios and enables the usage of a single threaded executor for the rclpy node instead of the multi-threaded executor in many cases, resulting in further performance gains.

We use it in-house for a few months now, and it runs very smooth.

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I have developed an interface exposing methods to compute the dynamic components of robots (inertia, coriolis, gravity, friction).

I am also willing to specialize this interface with a KDL-based solver for simulated robots, and with a concrete solver for real manipulators.

I am wondering where I should commit the code I have produced:

• should it be a new repository? If so, how can I create a new repo under existing organizations?
• should it be a PR in a specific repository? If so, which repository should it be?

For your convenience, the library has been released on CodeOcean: Code Ocean

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