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ROS Discourse General: Mitsubishi Electric ROS2 Community Discussion

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 :smiling_face_with_tear:

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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[WWW] https://discourse.ros.org/t/mitsubishi-electric-ros2-community-discussion/41710

ROS Discourse General: Cloud Robotics WG Meeting 2025-01-27 | Trying KubeEdge

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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[WWW] https://discourse.ros.org/t/cloud-robotics-wg-meeting-2025-01-27-trying-kubeedge/41663

ROS Discourse General: New packages for Humble Hawksbill 2025-01-21

Package Updates for Humble

Added Packages [24]:

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]:

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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[WWW] https://discourse.ros.org/t/new-packages-for-humble-hawksbill-2025-01-21/41658

ROS Discourse General: Speeding up Python nodes with the Bit-Bots TF Buffer

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.

6 posts - 3 participants

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[WWW] https://discourse.ros.org/t/speeding-up-python-nodes-with-the-bit-bots-tf-buffer/41649

ROS Discourse General: A library for inverse dynamics computation - where to contribute?

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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[WWW] https://discourse.ros.org/t/a-library-for-inverse-dynamics-computation-where-to-contribute/41643

ROS Discourse General: Announcing ZigROS! build ROS with the zig build system

Hello all,

I’d like to share a project I’ve been tinkering away at for a few months, ZigROS. ZigROS uses the zig toolchain to build rcl and rclcpp along with all their dependencies directly.

ZigROS is focused on creating static builds for simplified deployments. The Zig tooling makes this very straight forward. The zig toolchain supports static and dynamic linking with both arbitrary glibc versions and musl out of the box, as well as cross compilation.

ZigROS is capable of building the rclcpp stack in under 2 minutes on modern hardware, and producing statically linked binaries under 5MB that will run standalone on any linux systems.

The zig toolchain puts emphasis on being self contained, and ZigROS follows that ethos. The only dependency is the zig compiler, all other build and runtime dependencies (including python) are brought in and built.

Check out this example repo to see it in action.

Currently the project handles rcl, rclcpp, and all the needed message generation for interfaces. Only the base rclcpp is supported so far (no actions or lifecycle support just yet) but I do plan on continuing to improve feature support.

Given that the main goal of this project is ease of static builds, not all ROS projects will be compatible. For starters building anything with a runtime dependency on python or shared libraries won’t work. It also requires providing a build.zig file to build the project, though the API there is very straight forward.

I invite anyone curious about zig, or anyone interested in experimenting with static builds to give it a try. Setup is as straight forward as installing zig 0.13 and building the example repo.

For deployments to edge hardware like a raspberry pi or similar embedded linux system, the static linking and ease of cross compilation offered here could be a valuable alternative to the main build system.

Let me know if there are any questions or if you’re interested in collaborating.

Thanks!

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[WWW] https://discourse.ros.org/t/announcing-zigros-build-ros-with-the-zig-build-system/41635

ROS Discourse General: New Packages for Jazzy Jalisco 2025-01-20

Hello there everyone!

We’re happy to announce 49 new packages (including rmw_zenoh :wink:) and 244 updates are now available in ROS 2 Jazzy Jalisco :jazzy: :jazzy: :jazzy: .

This sync was tagged as jazzy/2025-01-20 .

Package Updates for jazzy

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

Added Packages [49]:

  • ros-jazzy-automatika-ros-sugar: 0.2.5-1
  • ros-jazzy-autoware-internal-debug-msgs: 1.3.0-1
  • ros-jazzy-autoware-internal-perception-msgs: 1.3.0-1
  • ros-jazzy-clearpath-bt-joy: 2.0.0-1
  • ros-jazzy-clearpath-common: 2.0.0-1
  • ros-jazzy-clearpath-config: 2.0.1-1
  • ros-jazzy-clearpath-control: 2.0.0-1
  • ros-jazzy-clearpath-customization: 2.0.0-1
  • ros-jazzy-clearpath-description: 2.0.0-1
  • ros-jazzy-clearpath-generator-common: 2.0.0-1
  • ros-jazzy-clearpath-manipulators: 2.0.0-1
  • ros-jazzy-clearpath-manipulators-description: 2.0.0-1
  • ros-jazzy-clearpath-mounts-description: 2.0.0-1
  • ros-jazzy-clearpath-platform-description: 2.0.0-1
  • ros-jazzy-clearpath-sensors-description: 2.0.0-1
  • ros-jazzy-coal: 3.0.0-1
  • ros-jazzy-feetech-ros2-driver: 0.1.0-3
  • ros-jazzy-generate-parameter-library-example-external: 0.4.0-1
  • ros-jazzy-jacro: 0.2.0-2
  • ros-jazzy-kinematics-interface-pinocchio: 0.0.1-1
  • ros-jazzy-mola-state-estimation: 1.6.1-1
  • ros-jazzy-mola-state-estimation-simple: 1.6.1-1
  • ros-jazzy-mola-state-estimation-smoother: 1.6.1-1
  • ros-jazzy-plansys2-bringup: 2.0.18-1
  • ros-jazzy-plansys2-bt-actions: 2.0.18-1
  • ros-jazzy-plansys2-terminal: 2.0.18-1
  • ros-jazzy-plansys2-tests: 2.0.18-1
  • ros-jazzy-py-trees-ros-viewer: 0.2.5-1
  • ros-jazzy-rmf-demos-assets: 2.3.0-1
  • ros-jazzy-rmf-demos-bridges: 2.3.0-1
  • ros-jazzy-rmf-demos-fleet-adapter: 2.3.0-1
  • ros-jazzy-rmf-demos-tasks: 2.3.0-1
  • ros-jazzy-rmw-zenoh-cpp: 0.2.0-1
  • ros-jazzy-zenoh-cpp-vendor: 0.2.0-1

Updated Packages [244]:

  • ros-jazzy-ackermann-steering-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-admittance-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-autoware-internal-msgs: 1.1.0-1 → 1.3.0-1
  • ros-jazzy-bicycle-steering-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-camera-ros: 0.2.1-1 → 0.3.0-1
  • ros-jazzy-clearpath-motor-msgs: 1.0.1-1 → 2.0.0-1
  • ros-jazzy-clearpath-msgs: 1.0.1-1 → 2.0.0-1
  • ros-jazzy-clearpath-platform-msgs: 1.0.1-1 → 2.0.0-1
  • ros-jazzy-control-toolbox: 3.4.0-1 → 3.5.0-1
  • ros-jazzy-controller-interface: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-controller-manager: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-controller-manager-msgs: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-depthai: 2.28.0-1 → 2.29.0-1
  • ros-jazzy-depthai-bridge: 2.10.3-1 → 2.10.5-1
  • ros-jazzy-depthai-descriptions: 2.10.3-1 → 2.10.5-1
  • ros-jazzy-depthai-examples: 2.10.3-1 → 2.10.5-1
  • ros-jazzy-depthai-filters: 2.10.3-1 → 2.10.5-1
  • ros-jazzy-depthai-ros: 2.10.3-1 → 2.10.5-1
  • ros-jazzy-depthai-ros-driver: 2.10.3-1 → 2.10.5-1
  • ros-jazzy-depthai-ros-msgs: 2.10.3-1 → 2.10.5-1
  • ros-jazzy-diff-drive-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-effort-controllers: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-examples-tf2-py: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-force-torque-sensor-broadcaster: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-forward-command-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-generate-parameter-library: 0.3.9-1 → 0.4.0-1
  • ros-jazzy-generate-parameter-library-example: 0.3.9-1 → 0.4.0-1
  • ros-jazzy-generate-parameter-library-py: 0.3.9-1 → 0.4.0-1
  • ros-jazzy-generate-parameter-module-example: 0.3.9-1 → 0.4.0-1
  • ros-jazzy-geometry2: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-gpio-controllers: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-gripper-controllers: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-gz-ros2-control: 1.2.9-1 → 1.2.10-1
  • ros-jazzy-gz-ros2-control-demos: 1.2.9-1 → 1.2.10-1
  • ros-jazzy-gz-sim-vendor: 0.0.6-1 → 0.0.7-1
  • ros-jazzy-hardware-interface: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-hardware-interface-testing: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-imu-sensor-broadcaster: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-joint-limits: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-joint-state-broadcaster: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-joint-trajectory-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-kitti-metrics-eval: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-libcamera: 0.3.2-1 → 0.4.0-1
  • ros-jazzy-mecanum-drive-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-mola: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-bridge-ros2: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-demos: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-imu-preintegration: 1.4.0-1 → 1.6.1-1
  • ros-jazzy-mola-input-euroc-dataset: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-input-kitti-dataset: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-input-kitti360-dataset: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-input-mulran-dataset: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-input-paris-luco-dataset: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-input-rawlog: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-input-rosbag2: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-kernel: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-launcher: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-lidar-odometry: 0.4.0-1 → 0.5.4-1
  • ros-jazzy-mola-metric-maps: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-msgs: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-pose-list: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-relocalization: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-test-datasets: 0.3.4-1 → 0.4.0-1
  • ros-jazzy-mola-traj-tools: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-viz: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mola-yaml: 1.4.0-1 → 1.5.1-1
  • ros-jazzy-mvsim: 0.12.0-1 → 0.13.0-1
  • ros-jazzy-parallel-gripper-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-parameter-traits: 0.3.9-1 → 0.4.0-1
  • ros-jazzy-pid-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-plansys2-core: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-domain-expert: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-executor: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-lifecycle-manager: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-msgs: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-pddl-parser: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-planner: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-popf-plan-solver: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-problem-expert: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-support-py: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-plansys2-tools: 2.0.15-1 → 2.0.18-1
  • ros-jazzy-pose-broadcaster: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-position-controllers: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-py-trees: 2.2.1-4 → 2.3.0-1
  • ros-jazzy-py-trees-js: 0.6.4-1 → 0.6.6-1
  • ros-jazzy-py-trees-ros: 2.2.2-4 → 2.3.0-1
  • ros-jazzy-py-trees-ros-interfaces: 2.1.0-4 → 2.1.1-1
  • ros-jazzy-range-sensor-broadcaster: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-realtime-tools: 3.0.0-1 → 3.1.0-1
  • ros-jazzy-rmf-building-map-tools: 1.9.1-1 → 1.9.2-1
  • ros-jazzy-rmf-traffic-editor: 1.9.1-1 → 1.9.2-1
  • ros-jazzy-rmf-traffic-editor-assets: 1.9.1-1 → 1.9.2-1
  • ros-jazzy-rmf-traffic-editor-test-maps: 1.9.1-1 → 1.9.2-1
  • ros-jazzy-ros2-control: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-ros2-control-test-assets: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-ros2-controllers: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-ros2-controllers-test-nodes: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-ros2controlcli: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-rqt-controller-manager: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-rqt-joint-trajectory-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-rviz-assimp-vendor: 14.1.6-1 → 14.1.7-1
  • ros-jazzy-rviz-common: 14.1.6-1 → 14.1.7-1
  • ros-jazzy-rviz-default-plugins: 14.1.6-1 → 14.1.7-1
  • ros-jazzy-rviz-ogre-vendor: 14.1.6-1 → 14.1.7-1
  • ros-jazzy-rviz-rendering: 14.1.6-1 → 14.1.7-1
  • ros-jazzy-rviz-rendering-tests: 14.1.6-1 → 14.1.7-1
  • ros-jazzy-rviz-visual-testing-framework: 14.1.6-1 → 14.1.7-1
  • ros-jazzy-rviz2: 14.1.6-1 → 14.1.7-1
  • ros-jazzy-steering-controllers-library: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-tensorrt-cmake-module: 0.0.3-4 → 0.0.4-1
  • ros-jazzy-tf2: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-bullet: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-eigen: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-eigen-kdl: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-geometry-msgs: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-kdl: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-msgs: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-py: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-ros: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-ros-py: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-sensor-msgs: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-tf2-tools: 0.36.7-1 → 0.36.8-1
  • ros-jazzy-transmission-interface: 4.21.0-1 → 4.24.0-1
  • ros-jazzy-tricycle-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-tricycle-steering-controller: 4.18.0-1 → 4.19.0-1
  • ros-jazzy-tuw-airskin-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-geo-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-geometry-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-graph-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-multi-robot-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-nav-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-object-map-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-object-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-tuw-std-msgs: 0.2.4-1 → 0.2.5-1
  • ros-jazzy-ur: 3.0.0-1 → 3.0.1-1
  • ros-jazzy-ur-calibration: 3.0.0-1 → 3.0.1-1
  • ros-jazzy-ur-controllers: 3.0.0-1 → 3.0.1-1
  • ros-jazzy-ur-dashboard-msgs: 3.0.0-1 → 3.0.1-1
  • ros-jazzy-ur-moveit-config: 3.0.0-1 → 3.0.1-1
  • ros-jazzy-ur-robot-driver: 3.0.0-1 → 3.0.1-1
  • ros-jazzy-velocity-controllers: 4.18.0-1 → 4.19.0-1

Removed Packages [4]:

  • ros-jazzy-mola-navstate-fg
  • ros-jazzy-mola-navstate-fg-dbgsym
  • ros-jazzy-mola-navstate-fuse
  • ros-jazzy-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
  • Addisu Z. Taddese
  • Alejandro Hernandez
  • Alejandro Hernandez Cordero
  • Alejandro Hernández
  • Automatika Robotics
  • Bence Magyar
  • Benjamin Binder
  • Berkay Karaman
  • Brandon Ong
  • Chris Iverach-Brereton
  • Christian Rauch
  • Daisuke Nishimatsu
  • Daniel Stonier
  • Felix Exner
  • Francisco Martin Rico
  • George Todoran
  • Jafar Uruc
  • Jose Luis Blanco-Claraco
  • Jose-Luis Blanco-Claraco
  • Joseph Mirabel
  • Luis Camero
  • M. Fatih Cırıt
  • Markus Bader
  • Morgan Quigley
  • Paul Gesel
  • Roni Kreinin
  • Ryohsuke Mitsudome
  • Saif Sidhik
  • Tyler Weaver
  • Xi Yu Oh
  • Yadunund
  • paul

Enjoy! :jazzy:

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ROS Discourse General: ROS News for the Week of January 13th, 2024

ROS News for the Week of January 13th, 2024


Meetup at Photonics West 2025

If you happen to be in San Francisco for Photonics West we’re organizing and informal ROS meetup with OpenCV. If you are in the Bay Area I recommend taking an afternoon to walk the floor. The event is free and almost every camera and lidar vendor will be there.


Jan25GCM

Our next Gazebo Community Meeting will be on 2025-01-29 Well be talking about a new Gazebo Harmonic simulation for Hello Robot’s new Stretch robot.

ROSBTBJan25 (1)

On 2025-01-30 join us ROS By-The-Bay! @tomoyafujita and @Yadunund will be presenting.


3D22D
Check out this new ROS 2 package for 3D voxel map to 2D occupancy map conversion.


5b0f9d98e535bbac2b35006da16e5fb04c249506_2_690x314 (1)

Along similar lines, there is a new ROS 2 camera lidar fusion package that’s been released.


Select1

There’s a new tutorial in the ROS 2 docs thanks to @DLu: on how to build a custom RViz panel.


Events

News

ROS

Got a minute? :mantelpiece_clock:

Lightning talks - Day 2

Remember this ROSCon 2023 lightning talk from @methylDragon? I would love it if we had one new contributor close this ticket in the ROS 2 documentation. This is a great opportunity to learn more about lifecycle nodes and to become a ROS 2 contributor.

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[WWW] https://discourse.ros.org/t/ros-news-for-the-week-of-january-13th-2024/41608

ROS Discourse General: New Packages for Noetic 2025-01-17

We’re happy to announce 1 new packages and 32 updates are now available in ROS Noetic. This sync was tagged as noetic/2025-01-17.

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

Package Updates for ROS Noetic

Added Packages [1]:

Updated Packages [32]:

Removed Packages [0]:

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

  • Adam Serafin
  • Atsushi Watanabe
  • Jose-Luis Blanco-Claraco
  • Martin Pecka
  • Rob Fisher
  • Robert Haschke

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[WWW] https://discourse.ros.org/t/new-packages-for-noetic-2025-01-17/41607

ROS Discourse General: New Packages for ROS 2 Rolling Ridley 2025-01-17

Hello everyone!

We’re happy to announce 22 new package and 137 updates are now available in ROS 2 Rolling Ridley :rolling_head: :rolling:

This sync was tagged as rolling/2025-01-17 .

Package Updates for rolling

Added Packages [22]:

  • ros-rolling-apriltag-ros: 3.2.2-1
  • ros-rolling-apriltag-ros-dbgsym: 3.2.2-1
  • ros-rolling-autoware-lanelet2-extension: 0.6.2-1
  • ros-rolling-autoware-lanelet2-extension-dbgsym: 0.6.2-1
  • ros-rolling-autoware-lanelet2-extension-python: 0.6.2-1
  • ros-rolling-autoware-lanelet2-extension-python-dbgsym: 0.6.2-1
  • ros-rolling-coal: 3.0.0-1
  • ros-rolling-coal-dbgsym: 3.0.0-1
  • ros-rolling-generate-parameter-library-example-external: 0.4.0-1
  • ros-rolling-generate-parameter-library-example-external-dbgsym: 0.4.0-1
  • ros-rolling-mola-lidar-odometry: 0.5.4-1
  • ros-rolling-mola-lidar-odometry-dbgsym: 0.5.4-1
  • ros-rolling-mola-state-estimation: 1.6.1-1
  • ros-rolling-mola-state-estimation-simple: 1.6.1-1
  • ros-rolling-mola-state-estimation-simple-dbgsym: 1.6.1-1
  • ros-rolling-mola-state-estimation-smoother: 1.6.1-1
  • ros-rolling-mola-state-estimation-smoother-dbgsym: 1.6.1-1
  • ros-rolling-py-trees-ros-viewer: 0.2.5-1
  • ros-rolling-rmw-zenoh-cpp: 0.3.0-1
  • ros-rolling-rmw-zenoh-cpp-dbgsym: 0.3.0-1
  • ros-rolling-zenoh-cpp-vendor: 0.3.0-1
  • ros-rolling-zenoh-cpp-vendor-dbgsym: 0.3.0-1

Updated Packages [137]:

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:

  • Addisu Z. Taddese
  • Aditya Pande
  • Alejandro Hernandez
  • Alejandro Hernandez Cordero
  • Automatika Robotics
  • Bence Magyar
  • Chris Lalancette
  • Christian Rauch
  • Daisuke Nishimatsu
  • Daniel Stonier
  • Dharini Dutia
  • Jose-Luis Blanco-Claraco
  • Joseph Mirabel
  • Mamoru Sobue
  • Paul Gesel
  • Robert Haschke
  • Steve Macenski
  • Tyler Weaver
  • Yadunund
  • mitsudome-r
  • paul

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[WWW] https://discourse.ros.org/t/new-packages-for-ros-2-rolling-ridley-2025-01-17/41606

ROS Discourse General: FOSDEM 2025 Robotics Devroom Schedule

Hi all!

2 more weeks until FOSDEM 2025 starts! The Robotics and Simulation developer room has the schedule and speakers all ready to go! We had a lot of submissions since our CfP so we couldn’t accept all but we are quite excited about the talks that will be present.

Info:

Schedule

  • 13:15 - Room Welcome
  • 13:20 - Lightning round 1:
    • Jonas Dech - PyCRAM, A Framework for Cognitive Robot Control
    • Roland Meertens - All my frustrations with ROS summed up in 5 minutes
    • Edgar Riba - Kornia-rs: Low level Computer Vision and 3D Library in Rust
    • Loïc Vigneron - Building a robot powered with Raspberry pis and Arduinos from a super fast Traxxas RC car
  • 13:45 - Ignacio Davila Gallesio, Agustin Alba Chicar - Accelerating robotics development through simulation
  • 14:15 - Jan Hanca - O3DE: Creating realistic simulations with open-source game engine
  • 14:45 - Said Alvarado-Marin - Repurposing Valve’s SteamVR 2.0 Technology to Develop an Open-Source, Low-Cost Motion Capture System for Robotics
  • 15:15 - Julien Enoch - Eclipse Zenoh: Understanding the Protocol and its Potential in Robotic
  • 15:45 - JoseMaria Cañas Plaza, Javier Izquierdo - BTstudio, a web tool for programming robots with Behavior Trees
  • 16:15 - Pierre Kancir - ArduPilot : Trusted, Versatile and FOSS autopilot for all and everything
  • 16:40 - Lightning round 2:
    • Michel Hidalgo, Lucas Chiesa - Whales use Lighthouses too: Open source positioning for open source robots
    • Ramon Roche - Build, Launch, and Soar with Dronecode: The infrastructure ecosystem for the development of autonomous aerial robotics.
    • Arne Baeyens - Integration and unit testing in ROS 2
    • Jose Luis Rivero - ROS in transition: a new organizational path under the Open Source Robotics Alliance

Make sure to keep an eye on the official Robotics and Simulation Development room schedule for any updates. Also you can watch a recording of the talks if you can’t make it yourself. The rest of you, we will see you in Brussels!

Fosdev-ogłoszenie-1

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[WWW] https://discourse.ros.org/t/fosdem-2025-robotics-devroom-schedule/41604

ROS Discourse General: Customizable Template for Docker Environment Setup

Hello everyone,

I’d like to share and release an easy to use repository I’ve created to help streamline and simplify the setup process for different ROS environments and it’s dependencies using Docker. The template provides a flexible and easy-to-use framework that allows you to configure the environment tailored to your specific needs.

I have been working on setting environments and packages that range across different OS and Distro requirements and managing them with Docker was definitely the shot. In this process I managed to shape this template for easily setting up different ROS envs with minimal efforts in listing and installing dependencies. My goal with this Docker template was to speed up the setup process, make it smoother, and eliminate the repetitive steps needed to get everything running.

Key Features:

  • Pre-configured ROS env: The template comes with an initial ROS Noetic base version, making it quick to start developing without many additional setup steps.
  • Configurable .env file: Easily modify arguments in the .env and Dockerfile to fit your specific ROS version, dependencies, and configurations.
  • Customization: Easily modify the template to add any extra dependencies or changes as needed.

How it works:

  • Simply clone the repository, customize the files mentioned in the README.md for your environment, and build your Docker image.
  • The template can be used for both ROS 1 and ROS 2 setups, and it integrates seamlessly with your ROS packages and dependencies.

There is scope for more work here and I’d love to get feedback from the community on how this template can be improved to make this as useful as possible for everyone. So if you have any suggestions, improvements, or features you’d like to see, please feel free to share! :raised_hands: With this as a starter, I look forward to contributing more!!

You can find the repository here: GitHub - dipshikha-das/docker-env-blueprints at ros-any

Looking forward to your feedback! :star2:

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[WWW] https://discourse.ros.org/t/customizable-template-for-docker-environment-setup/41590

ROS Discourse General: The forgotten gem that is environment hooks and DSV

Greetings fellow robotics enthusiasts :rocket::heart:,

In the good old days of ROS 1, we had a useful little cmake command catkin_add_env_hooks where you could provide a list of shell scripts for different shells (bash, sh, zsh, …) to be sourced when the ROS workspace is sourced.
You could use this to register your library in an environment variable, e.g., to make a plugin findable, to create your own environment variables or helper functions, or whatever else you needed to do when sourcing the workspace.

This command was improved (as many things were) for ROS2 which now provides the ament_environment_hooks command.
In addition to specific shell scripts, you could also use DSV files, which is a simple format that allows you to modify environment variables.
For example, you can prepend or append your library path to a plugin environment variable.
The advantage here is that it’s supposedly faster, but most importantly, it is cross-platform.

Unfortunately, this feature is very well hidden and apparently, only a select few seem to know about it judging from the number of READMEs I’ve seen that include:

Then you have to make this library findable by running export RANDOM_LIB_PLUGIN_PATH=$(instruction that some people will certainly have issues with)/somepath/lib:${RANDOM_LIB_PLUGIN_PATH}

So, this post hopefully provides someone (maybe you) with the information that this gem exists and might be helpful to you.
I’m pretty sure I have seen documentation for DSV and environment hooks at some point but even with the flaky knowledge that it should exist, I couldn’t find it on Google.
Here’s the closest thing that I could find: ros_gz_project_template/ros_gz_example_gazebo/hooks at main · gazebosim/ros_gz_project_template · GitHub
(See @gavanderhoorn’s comment)

The only downside I know of is that the ROS binary workspace is currently broken and ignores DSV files, so they only work in the source workspace :person_shrugging:
See DSV files are not sourced in binary workspace · Issue #1613 · ros2/ros2 · GitHub
However, you can also register sh or bash scripts and they should work in both binary and source workspaces.

Some examples of my own:

Here I register my QML ROS 2 plugin to be found by QML. Please ignore the .in ending, I just noticed that I changed the path and don’t need any template processing anymore, so it could just be a .dsv.

In this WIP package, it’s used to register a command that makes working with a ROS 2 source workspace and robots a bit more comfortable:

This just serves to show that you can also use environment hooks for more complex functionality. Please ignore the current documentation status, which may be a bit outdated. You can expect a release post sometime in the future with more polished documentation.

I hope this information is useful of you.
If not, here’s an AI-generated cat riding on an AI-knockoff Spot to make up for the time you took to read this:

image

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[WWW] https://discourse.ros.org/t/the-forgotten-gem-that-is-environment-hooks-and-dsv/41581

ROS Discourse General: :checkered_flag: Gazebo Citadel officially end-of-life [x-post Gazebo Sim Community]

Dear ROS Community,

Gazebo Citadel has reached end-of-life (EOL) as of December, 2024. Citadel was released in December, 2019 and it was the third major release of Gazebo (named Ignition back then). It was a milestone release because it was the first Long Term Supported (LTS) release of Gazebo with support lasting 5 years. Citadel introduced various exciting features, including SDF frame semantics, Animated actors, Visualization markers, Thermal camera sensors, CLI to Upload models to Fuel, and Rechargeable batteries to name a few. See the entire list of features on the Release Features page.

We recommend all Citadel users migrate to a supported release as soon as possible, such as Harmonic (LTS) or Ionic, which are paired with ROS Jazzy and Rolling (Kilted once released) respectively. Migrating to either Harmonic or Ionic will require migrating from Ignition to Gazebo, so please follow the migration guide. Also, be sure to check the release highlights for Harmonic and Ionic in addition to checking each library’s migration guide.

As part of the Citadel 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.

Library major version Final release
gz-gui3 (ignition-gui3) 3.12.0
gz-launch2 (ignition-launch2) 2.3.1
gz-physics2 (ignition-physics2) 2.6.2
gz-rendering3 (ignition-rendering3) 3.7.2
gz-sensors3 (ignition-sensors3) 3.6.0
gz-sim3 (ignition-gazebo3) 3.15.1

We sincerely thank all contributors to all libraries in Citadel :pray:

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 Citadel:

  • 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 Citadel goes end of life:

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

:gazebo: Gazebo Dev Team :gazebo:

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ROS Discourse General: Live RMW Zenoh Workshop

Hi all,

For everyone interested in learning more about RMW Zenoh, our team will host a workshop live on YouTube (https://www.youtube.com/watch?v=_NqaILDTT2s) on 2025-01-21T16:00:00Z UTC. You can add this workshop to your calendar: (Live) RMW Zenoh Workshop.

It’ll be similar to the workshop we presented at ROSCon 2024 with @Yadunund and Steven Palma, and everyone can ask our team questions live. This is perfect for those who are ready to deploy RMW Zenoh or are already doing so but have questions.

For those who want to learn more about Zenoh and its features, ahead of trying RMW Zenoh, we have a second webinar on 2025-02-11T16:00:00Z UTC. The webinar is titled “Zenoh Advanced Features Workshop”, and it’ll be live on YouTube (https://www.youtube.com/watch?v=UfH6KFJ3v0c). You can set up a calendar reminder: (Live) Zenoh Advanced Features Workshop.

If you have any questions ahead of the webinars, let me know.

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[WWW] https://discourse.ros.org/t/live-rmw-zenoh-workshop/41562

ROS Discourse General: Transforming Rahal Robot for ROS 2 Humble with Gazebo Sim

Hello ROS community!

I’ve been working on evolving the Rahal Robot to fully utilize the power of ROS 2 Humble and Gazebo Sim, and I’m thrilled to share the progress with you all! This project has been a rewarding experience, bringing new life to a ROS 1 classic and adapting it to modern robotics needs.

What’s New?

  • Transitioned the Rahal Robot to ROS 2 with a refined SDF model, ensuring full compatibility with Gazebo Sim.
  • Enhanced perception by adding LiDAR and a camera, enabling improved mapping and object detection.
  • Integrated slam_toolbox for autonomous mapping and better localization capabilities.
  • Added a personal touch by incorporating the Arab Meet logo into the Gazebo Sim model.

Why This Matters

The migration to ROS 2 Humble not only modernizes the Rahal Robot but also sets the stage for future innovations. With better tools, updated simulation environments, and enhanced navigation possibilities, this robot is ready to tackle new challenges.

The original ROS 1 version that inspired this journey can be found here:
Original Rahal Robot Repository

For ROS 2 enthusiasts, you can explore my upgraded version, which includes updated code, documentation, and simulation files, here:
My Rahal Robot Repository

What’s Next?

I’m excited to explore Nav2 to push the navigation capabilities even further. This project is just the beginning, and I can’t wait to see where it leads.

Your feedback, suggestions, and collaborations are always welcome. Let’s continue innovating together in this amazing ROS community!

ros2 #GazeboSim #slam_toolbox #RobotNavigation nav2 #OpenRobotic

raalslamtoolbox

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ROS Discourse General: Rust implementation of RMW Zenoh for ROS2 Humble

Hey there! I’m using ROS2 Humble at work, and I’ve been studying ROS2.
Since Zenoh wasn’t supported on Humble until recently, I figured I’d learn Rust and give building a Zenoh RMW in Rust a shot.

I kicked off the project last month, but the official Humble version released last week, so my work might already be outdated (haha).
If you try it out, I’d love to hear what you think.

I’m also looking to contribute to the official rmw_zenoh moving forward. Thanks!

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[WWW] https://discourse.ros.org/t/rust-implementation-of-rmw-zenoh-for-ros2-humble/41510

ROS Discourse General: ROS News for the Week of January 6th, 2025

ROS News for the Week of January 6th, 2025

ROSBTBJan25 (1)

Our next ROS By-The-Bay will be on 2025-01-30 @tomoyafujita and @Yadunund will be on hand to talk about the new Zenoh RMW and rcl_logging_syslog.


image

CES was this week and there were quite a few new developments in the world of robotics. The image above is of a water quality monitoring robot from a new company called Beatbot. My personal favorite was this new prototype IR touch sensor from Thinker robotics. Our friends at the Indy Autonomous Challenge were competing at the Las Vegas Motor Speedway all week. I’ve collected a bunch of CES related articles in the news section.


image

Our friends over at PicNick have put together a fantastic resource that lists every robot arm that is ROS compatible along with detailed information about the ROS package that supports the hardware. I suggest book marking this webpage!


image

Check out this amazing plugin that allows you to import your Nav2 maps directly into Gazebo. This is a super tool for anyone working on Nav2 development,


image

@audrow has released a new podcast episode. In this episode he interviews a bunch of interesting attendees from ROSCon 2024 in Denmark.


image

A research team over at University of Cardiff have released a Gazebo simulation for the popular Stretch Robot by Hello Robot. The sim works with ROS 2 Humble and modern Gazebo (Harmonic).


Events

News

ROS

Got a Minute? :mantelpiece_clock:

I am looking for two people (C++ / Python) to help write a very simple addition for the documentation of ROS 2 parameters.

:tada: This has been taken care of! Thanks @jkaniuka

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[WWW] https://discourse.ros.org/t/ros-news-for-the-week-of-january-6th-2025/41487

ROS Discourse General: Next Client Library WG Meeting: Friday 10 January 2025 8AM PT

Hi,
The client library WG meeting is back after the new year’s break.

The next meeting of the Client Library Working Group will be this Friday, 10th January 2025 at 8 AM Pacific Time.

The focus of the discussion will be some critical rclcpp bugs around the waitset and executor. See agenda for details.

Everyone is welcome to join to contribute to this topics or bring up new ones

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[WWW] https://discourse.ros.org/t/next-client-library-wg-meeting-friday-10-january-2025-8am-pt/41458

ROS Discourse General: How many hardware brands have good ROS 2 Drivers? Announcing a new resource for the ROS Community

PickNik is proud to announce the launch of the ROS 2 Hardware Drivers partners page, a new online resource showcasing robot hardware, particularly robotic arms, that are compatible with the ROS 2. This initiative is a direct result of PickNik’s long term dedication to ROS, open source, and creating open source ROS drivers for various brands of hardware. This work was undertaken by PickNik in response to needs raised at a meeting held at ROSCon 2024 by the OSRF, PickNik, ROS Industrial, and other key contributors.

The ROS 2 Hardware Drivers page is designed to serve as a useful resource for developers, integrators, and researchers, enabling them to identify compatible hardware for their ROS 2-based projects efficiently. It also acts as a barometer for the widespread adoption of ROS 2 middleware worldwide. The page lists all robots with known ROS 2 compatibility and is continually updated. If you know of ROS 2-compatible robots or components not yet featured, let us know—we’re happy to add them. PickNik also offers ROS 2 driver development services to further support the community.

Terminology

To guide users, the page incorporates a ROS 2 Driver quality score ranking methodology and introduces some terminology to better classify types of drivers:

  • Great: High-bandwidth streaming, typically > 500 Hz
    • The most complex drivers to write and the most powerful: these drivers enable visual servoing, dextrous manipulation on top of a mobile base, and sensitive force compliance (if you have a force torque sensor).
  • Average: Low-bandwidth trajectory, typically < 25 Hz
    • These allow you to avoid static obstacles you have sensed at planning time.
  • Poor: Low-bandwidth single-point, typically < 25 Hz
    • These drivers are difficult to use in advanced applications. Avoiding collisions is difficult because you cannot stream commands around the obstacles or provide a pre-planned trajectory around it.

We’re particularly excited to include details about compatibility with MoveIt Pro, our advanced solution for ML, perception, motion planning, and control. The “Compatible with MoveIt Pro” designation comes in two tiers. Gold Integration signifies hardware that PickNik has rigorously tested, complete with a working ROS 2 driver and MoveIt Pro configuration we endorse. Basic Integration indicates successful integration by a third-party company, though it has not undergone validation by PickNik.

We believe the robotics industry is so much stronger thanks to interoperability with ROS!

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[WWW] https://discourse.ros.org/t/how-many-hardware-brands-have-good-ros-2-drivers-announcing-a-new-resource-for-the-ros-community/41446

ROS Discourse General: CES 2025 - Isaac ROS 3.2 and platform updates

NVIDIAIsaac

From CES 2025, discover key updates to the NVIDIA Isaac platform that streamline your end-to-end development of robotics systems from simulation to real-world deployment.
NVIDIA
Read the NVIDIA Isaac technical blog to learn more about the updates to the following:

  • Isaac ROS 3.2
    • Isaac Manipulator
    • Isaac Perceptor
  • Isaac Sim
  • Isaac Lab

Read here.

If you didn’t get a chance to watch Jensen’s keynote discussions at CES 2025. Watch it again here.

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[WWW] https://discourse.ros.org/t/ces-2025-isaac-ros-3-2-and-platform-updates/41444

ROS Discourse General: Cloud Robotics WG Meeting 2025-01-13

Please come and join us for this coming meeting at 1700-1800 UTC on Monday 13th January 2025, where we will discuss the latest in Cloud Robotics news. The session will be more of an informal chat.

Last meeting, we hosted a talk from Tomoya Fujita on Robotics Platforms empowered by Cloud-Native Technologies. If you’re interested to see the talk, we have published it 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.

Hopefully we will see you there!

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[WWW] https://discourse.ros.org/t/cloud-robotics-wg-meeting-2025-01-13/41441

ROS Discourse General: Mesh2gazebo: Building a simulator environment using mesh data of 3D Scan Application

I proposed tool(mesh2gazebo) to build simulator environment using mesh data of 3D Scan Application. If you are interested in this tool, please read https://www.docswell.com/s/dandelion1124/5DNMRW-2025-01-07-150727.

3 posts - 2 participants

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[WWW] https://discourse.ros.org/t/mesh2gazebo-building-a-simulator-environment-using-mesh-data-of-3d-scan-application/41435

ROS Discourse General: TF tree in a multi-robot setup in ROS2

Hello everyone,

with our recent switch to ROS2, we want to make our setup ready for multi-robot operation. Unfortunately, there does not seem to be an established standard (or better yet, a REP) for this and I could only find little discussion on the topic.

Therefore, we would like the hear about everyone’s experiences and best-practices for a multi-robot setup in ROS2.

The main problem seems to be how to organize the tf tree and frame names. Currently, we are considering these three options:

Option A: tf/frame prefix

The robot_state_publisher has the option to prepend a frame_prefix (previously tf_prefix) which would make each frame name globally unique.

Pro:

  • Globally unique frame name

Contra:

  • Support was temporarily dropped during transition from melodic to noetic. Therefore, barely any node supports this anymore.
  • frame names do not match URDF link names (so nodes that use tf and URDF need to be aware of the prefix)

Option B: Multiple tf trees

Each robot has its own tf tree (/robot_name/tf). Nodes operate as usual in their own namespace. As far as I know, this is the option nav2 is using.

Additionally, tf transforms can be republished to a global tf topic with frame prefix.

Pro:

  • All nodes should work as usual in the robot-specific namespace

Contra:

  • Nodes that reason over multiple robots (global detection fusion, inter-robot collision avoidance …) need special handling
  • Sensor messages do not have a globally-unique frame id

Option C: Prefix URDF links

A robot-specific prefix can be inserted directly in the URDF, making the robot’s frame names globally unique.

Pro:

  • Should be supported by all nodes
  • Globally unique frame_id in sensor messages
  • TF frame names match URDF link names

Contra:

  • The robot name needs to be passed to pretty much every launch file as an argument
  • The MoveIt SRDF file needs to be a xacro to prepend the frame prefix to link names

What do you think? Does any one of you have experience with any of these options or do you even use an entirely different approach? I would be grateful for any experiences you could share.

Best regards,
Martin

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[WWW] https://discourse.ros.org/t/tf-tree-in-a-multi-robot-setup-in-ros2/41426

ROS Discourse General: Visualize your custom messages on RViz!

Happy new year everyone!!! :smile:

I’d like to share the release of a fun project I had been working on: ROS 2 CMV! - a custom message visualizer for RViz. With this package, you can generate rviz plugins for your custom messages!! The link to the repository is https://github.com/suchetanrs/ros2_cmv
This can be done using a GUI or directly in your CMakeLists by adding the following line just after the creation of your message:

generate_rviz_plugin("msg/Sample.msg")

Here are some plugins I was able to generate and play around with.

  1. A 2D occupancy map + markers showing the heights of obstacles + robot path with the evolution of the covariance over time.
  2. Similar to the previous one, but a live demonstration of a robot moving in a corridor.
  3. A snapshot of two robots with the paths that they will take, the laser-scan and a couple of obstacles (I should have done better here :p)
    All of this is visualized in a single message type!

If you like my work, please do leave a :star: on the repository. It will mean the world to me!

1 - map_walls_posees_cov
2 - robot_corridor
3 - two_robots

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[WWW] https://discourse.ros.org/t/visualize-your-custom-messages-on-rviz/41409

Wiki: TullyFoote/TestPlanetRSS (last edited 2014-09-25 22:49:53 by TullyFoote)

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