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ROS Discourse General: ROS /cmd_vel MQTT bridge

Hey all,

I decided to create a small ros mqtt bridge just for the /cmd_vel topic. I do know that ros_mqtt bridge packages exist but I thought this would be easier to set up and use.

I’m using this to connect to a robot that’s not easily accessible via rosserial or rosbridge (Mindstorms ev3). MQTT makes it easy to extend ROS’s capability to such resource-constrained robots.

If anyone else is in the same situation or would like to contribute in any way, the package is linked below -

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[WWW] https://discourse.ros.org/t/ros-cmd-vel-mqtt-bridge/18514

ROS Discourse General: ROS News for the Week of January 10th, 2021

ROS News for the Week of 1/10/2021


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ROS Goes Racing

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ROS 2 Foxy Leg Detector


Events

Hardware

News

ROS Packages

ROS Questions

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[WWW] https://discourse.ros.org/t/ros-news-for-the-week-of-january-10th-2021/18488

ROS Discourse General: New packages for ROS 2 Dashing DIademata 2021-01-14

New year, new Dashing sync! Thanks as ever to those who continue to support the Dashing release.

It’s still several months away but the end of Dashing’s support cycle is coming in May 2021.
At the end of Dashing’s support cycle there will no longer be any active ROS 2 distribution with Tier 1 support for Ubuntu 18.04. ROS 2 Foxy Fitzroy is the latest LTS release of ROS 2 and will be supported until May 2023.

Package Updates for dashing

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

Added Packages [2]:

  • ros-dashing-tvm-vendor: 0.7.2-1

Updated Packages [27]:

  • ros-dashing-autoware-auto-msgs: 0.1.0-1 -> 1.0.0-1
  • ros-dashing-gurumdds-cmake-module: 0.7.7-1 -> 0.7.8-1
  • ros-dashing-rmw-gurumdds-cpp: 0.7.8-1 -> 0.7.9-1
  • ros-dashing-rmw-gurumdds-shared-cpp: 0.7.8-1 -> 0.7.9-1
  • ros-dashing-ros1-bridge: 0.7.7-1 -> 0.7.8-1
  • ros-dashing-rqt-robot-monitor: 1.0.3-1 -> 1.0.4-1
  • ros-dashing-serial-driver: 0.0.5-1 -> 0.0.6-4
  • ros-dashing-system-modes: 0.4.1-1 -> 0.4.2-1
  • ros-dashing-system-modes-examples: 0.4.1-1 -> 0.4.2-1
  • ros-dashing-turtlebot3: 2.1.0-1 -> 2.1.1-2
  • ros-dashing-turtlebot3-bringup: 2.1.0-1 -> 2.1.1-2
  • ros-dashing-turtlebot3-cartographer: 2.1.0-1 -> 2.1.1-2
  • ros-dashing-turtlebot3-description: 2.1.0-1 -> 2.1.1-2
  • ros-dashing-turtlebot3-example: 2.1.0-1 -> 2.1.1-2
  • ros-dashing-turtlebot3-navigation2: 2.1.0-1 -> 2.1.1-2
  • ros-dashing-turtlebot3-node: 2.1.0-1 -> 2.1.1-2
  • ros-dashing-turtlebot3-teleop: 2.1.0-1 -> 2.1.1-2
  • ros-dashing-udp-driver: 0.0.5-1 -> 0.0.6-4
  • ros-dashing-v4l2-camera: 0.1.1-1 -> 0.1.2-1

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:

  • Aaron Blasdel
  • Apex.AI, Inc.
  • Arne Nordmann
  • Dirk Thomas
  • Josh Whitley
  • Joshua Whitley
  • Junho Lee
  • Sander G. van Dijk
  • Will Son

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[WWW] https://discourse.ros.org/t/new-packages-for-ros-2-dashing-diademata-2021-01-14/18472

ROS Discourse General: Gazebo support for ros2_control breakout session

Hello there,

Our last ros2_control WG meeting asked for a more in-depth discussions regarding Gazebo support.
We decided to create a separate breakout session for this which will take place on 2021-01-20T18:00:00Z.

Come prepared! There will be no time for a summary of the framework so please familiarize yourself with ros2_control, specifically controller_manager, SystemInterface, SensorInterface and ActuatorInterface.
For more background on Gazebo, make sure to read this PR: gazebo_ros2_control#44

The direct link to the meeting is this one:

But also feel free to add the event from the ROS Events calendar:
note that the calendar uses PST:

See you there,
Bence

Note: Sometimes, Google Meet links don’t persist. I’ll try to ensure that the link above is up to date, but in case you can’t find people in the meeting room, double check the link on the calendar event, that is the right place.

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[WWW] https://discourse.ros.org/t/gazebo-support-for-ros2-control-breakout-session/18468

ROS Discourse General: New packages for Kinetic Kame 2021-01-12

We’re happy to announce an update of 47 packages for Kinetic Kame for the first release in 2021.

Thank you to everyone who helped make these updates possible!

Full details are below.

Package Updates for kinetic

Added Packages [0]:

Updated Packages [47]:

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
  • Austin Hendrix
  • Chris Iverach-Brereton
  • David V. Lu!!
  • Michael Ferguson
  • NovAtel Support
  • Sergey Dorodnicov
  • Vladimir Ermakov

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[WWW] https://discourse.ros.org/t/new-packages-for-kinetic-kame-2021-01-12/18414

ROS Discourse General: ROS2 Foxy compatible leg detector

We at mowito have released a ROS2 Foxy port of Leg Detector for obstacle detection and human detection.

Here’s a screenshot of its working on a 0.33 resolution scanner.

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The original repository worked only on ROS1 Melodic and wasn’t updated for a long time. We have ported the entire code to work on ROS2 Foxy, and have tested it on the example bags. It takes a 2D LiDAR scan and outputs an array of tracked legs in the vicinity of the robot.

If you want to try it out and give us feedback, follow the instructions here.

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[WWW] https://discourse.ros.org/t/ros2-foxy-compatible-leg-detector/18387

ROS Discourse General: CES unveils ROS Indy racecar live 2PM EDT / 8PM CET Jan 11th

CES 2021 is unveiling a very fast robot 2PM EDT, 8PM CET today Jan 11th, watch the press conference here: indyautonomouschallenge.com

Autoware.Auto ROS 2 CycloneDDS OpenCV on rugged ADLINK Technology NVIDIA AI robotics controllers with 3 LiDARs, 5 cameras, 2 Novotel GNS w IMU, 4 Aptiv radars, New Eagle Raptor ECU with Schaeffler drive-by-wire system installed by AutonomouStuff. University robotics teams are racing a fleet of these modified Dallara IL-15 racecars head-to-head at Indy Oct 23rd. :racing_car::turtle:

IAC_racecar_adlink
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[WWW] https://discourse.ros.org/t/ces-unveils-ros-indy-racecar-live-2pm-edt-8pm-cet-jan-11th/18386

ROS Discourse General: Community Meeting: ROS 2 and Webots

We are happy to announce the first ROS 2 and Webots Community Meeting to be held on January 25th, 2021 at 8am PST

In your time zone: 2021-01-25T16:00:00Z

Agenda:

  • Introduction to Webots and ROS 2 support [Olivier Michel, Cyberbotics Ltd, Switzerland, 10 minutes]
  • Contributions to the URDF2Webots converter [Simon Steinmann, DLR, Germany, 15 minutes + 5 minutes for questions]
  • Roadmap for Webots and ROS 2 [Darko Lukić, Cyberbotics Ltd., Switzerland, 10 minutes]
  • Round table and QA session [all, 20 minutes]

Total duration of the meeting: 60 minutes.

Meeting ID: https://meet.google.com/xpc-ugcq-fah

We will share a video of the meeting afterwards.

Looking forward to your participation.

Cheers,

-Olivier

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[WWW] https://discourse.ros.org/t/community-meeting-ros-2-and-webots/18385

ROS Discourse General: ROS News for January 8th, *2021*

ROS News for January 8th, 2021

nao
NAO Joint Control now in Ignition Fuel

gz-contrib
Gazebo Contributions Over Time

If you want to learn more about Ignition / Gazebo join us next Tuesday for the Ignition community meeting.


Events

ROS Packages

Robot News

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[WWW] https://discourse.ros.org/t/ros-news-for-january-8th-2021/18342

ROS Discourse General: ROS2 latency using different node setups

Hi there,

as posted in this post, we recently submitted a paper to ICRA focussing on latency entailed by ROS2. We profile the latency to pinpoint the bottleneck and to find potential improvements. Different parameters are varied, e.g.

  • publisher frequency
  • number of nodes
  • DDS middleware
  • msg size

Have a closer look at the preprint: https://arxiv.org/pdf/2101.02074.pdf

Cheers,
urczf

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[WWW] https://discourse.ros.org/t/ros2-latency-using-different-node-setups/18335

ROS Discourse General: New packages for Foxy Fitzroy 2021-01-07

We’re happy to announce new packages and updates for Foxy Fitzroy!

Package Updates for foxy

Added Packages [28]:

  • ros-foxy-controller-interface: 0.1.2-1
  • ros-foxy-controller-manager: 0.1.2-1
  • ros-foxy-controller-manager-msgs: 0.1.2-1
  • ros-foxy-effort-controllers: 0.1.1-1
  • ros-foxy-forward-command-controller: 0.1.1-1
  • ros-foxy-grasping-msgs: 0.4.0-1
  • ros-foxy-hardware-interface: 0.1.2-1
  • ros-foxy-joint-state-controller: 0.1.1-1
  • ros-foxy-joint-trajectory-controller: 0.1.1-1
  • ros-foxy-plansys2-bringup: 1.0.7-2
  • ros-foxy-plansys2-bt-actions: 1.0.7-2
  • ros-foxy-plansys2-core: 1.0.7-2
  • ros-foxy-plansys2-domain-expert: 1.0.7-2
  • ros-foxy-plansys2-executor: 1.0.7-2
  • ros-foxy-plansys2-lifecycle-manager: 1.0.7-2
  • ros-foxy-plansys2-msgs: 1.0.7-2
  • ros-foxy-plansys2-pddl-parser: 1.0.7-2
  • ros-foxy-plansys2-planner: 1.0.7-2
  • ros-foxy-plansys2-popf-plan-solver: 1.0.7-2
  • ros-foxy-plansys2-problem-expert: 1.0.7-2
  • ros-foxy-plansys2-terminal: 1.0.7-2
  • ros-foxy-position-controllers: 0.1.1-1
  • ros-foxy-ros2-control: 0.1.2-1
  • ros-foxy-ros2controlcli: 0.1.2-1
  • ros-foxy-rosauth: 2.0.2-1
  • ros-foxy-test-robot-hardware: 0.1.2-1
  • ros-foxy-tvm-vendor: 0.7.2-1
  • ros-foxy-velocity-controllers: 0.1.1-1

Updated Packages [40]:

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:

  • Apex.AI, Inc.
  • Arne Nordmann
  • Bence Magyar
  • Christophe Bedard
  • Cyberbotics
  • Davide Faconti
  • Ethan Gao
  • Francisco Martin Rico
  • Josh Whitley
  • Karsten Knese
  • Michael Ferguson
  • Rein Appeldoorn
  • Soft_illusion
  • Victor Lopez
  • Vladimir Ermakov
  • William Woodall

:foxy: :turtle:

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[WWW] https://discourse.ros.org/t/new-packages-for-foxy-fitzroy-2021-01-07/18317

ROS Discourse General: UC3M Madrid 5G ROS Zenoh digital twin & teleop technical review & demo

Technical review and demo of Milan Groshev & Carlos Guimarães of UC3M Madrid of their work on 5G edge robotics digital twin, teleop, record & playback using ROS with Eclipse Zenoh (Rust WG overview) and other components. They also show the performance on 5G vs 4G.

TELCA, ADLINK, Ericsson, Telefonica, many others contributing and supporting their research. The work is partially funded by Horizon 2020 EU+Taiwan 5G-DIVE joint action grant #859881

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[WWW] https://discourse.ros.org/t/uc3m-madrid-5g-ros-zenoh-digital-twin-teleop-technical-review-demo/18287

ROS Discourse General: Announcing ros2_control for Foxy

Hello there folks,

We’ve had a busy 2020 at the ros2_control Working Group thinking about and discussing how to improve ros_control for ROS2.
I am pleased to announce the first release of ros2_control and ros2_controllers in Foxy!

Don’t be overly excited yet though! This is a release of only the core framework and some of the old and loved controllers, but not everything yet.
Highlighted features:

  • Supported controllers: joint_state_controller, joint_trajectory_controller and forward_command_controller
  • Entirely component-based setup, for those of you familiar with ros_control, you can think of it as CombinedRobotHardware being a first class citizen. No need to write a RobotHW anymore if someone else already made a driver for the component/robot you want to use.
  • ROS2 CLI support
  • No more hardcoded joint or actuator interface types (i.e. can support any joint type, not only position, velocity and effort)
  • Resource and lifecycle management done in a cleaner manner, leveraging some ROS2 and more modern C++ practices
  • Composability with other ROS2 nodes via executors
  • Support the control_msgs/DynamicJointState message which is a flexible alternative to sensor_msgs/JointState

Upcoming releases will include:

  • diff_drive_controller
  • JointGroup[Position/Velocity/Effort]Controller
  • transmissions
  • Gazebo support
  • more demos and documentation.

Did you guys also watch Die Hard 2 over the Christmas break? If yes, I’m sure those orange industrial robots in the baggage-handling scene made you wonder: “When can I use ros_control with ROS2 on my robots?” The time has come!

diehard2baggage
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Full scene

As we do not yet have the Gazebo plugin working, allow me to show a KUKA and an ABB simulation thanks to Taiga Robotics. The source code for both can be found here.
ABB:

KUKA:

For getting started, try the hands-on demo from the demos repo:

For more, you may join us or follow our progress at the working group meetings or in the following repos:

Warmest thanks to everyone who helped make ros2_control happen but especially our main contributors:
Karsten Knese (Bosch), Denis Štogl (KIT), Victor Lopez & Jordan Palacios (PAL Robotics),
Edwin Fan & Alejandro Cordero (Open Robotics), Colin MacKenzie, Dmitri Ignakov (Taiga Robotics), Andy Zelenak and Lovro Ivanov (PickNik Robotics)

PS:
Until the next Foxy sync, the packages are only available from the ros2-testing apt repository.

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[WWW] https://discourse.ros.org/t/announcing-ros2-control-for-foxy/18274

ROS Discourse General: ROS on Windows: Melodic Release v20201221.0.0.2012310001

The Microsoft Azure Edge Robotics team is happy to announce the Melodic Release v20201221.0.0.2012310001 for Windows developers.

As usual, you can install it by the following steps:

mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-melodic-desktop_full -y --execution-timeout=0

Some highlights of this release:

  • Based on the Melodic release sync 2020-12-21
  • Enabled packages:
    • Desktop_full
    • MoveIt
    • Navigation
    • SLAM
      • Cartographer
      • OpenKarto
      • OpenSLAM’s GMapping
  • Libraries and Python runtime:
    • Boost 1.66.0
    • CMake 3.18.2
    • EmPY 3.3.4
    • Gazebo 9.13.1
    • OGRE 1.10.11
    • OpenCV 3.4.1
    • PCL 1.8.1
    • Poco 1.8.1
    • Python 2.7.15
    • Qt 5.10.1

Love your feedback and let us know on GitHub.

Also check out https://aka.ms/ros for ROS related components from Microsoft and partners which are supported on Linux and Windows. And more getting started tutorials on https://aka.ms/ros/docs.

Happy coding ROS Developers! :muscle::muscle::muscle:

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[WWW] https://discourse.ros.org/t/ros-on-windows-melodic-release-v20201221-0-0-2012310001/18269

ROS Discourse General: ROS on Windows: Foxy Release v20201211.0.0.2012290002

The Microsoft Azure Edge Robotics team is happy to announce the Foxy Release v20201211.0.0.2012290002 for Windows developers.

As usual, you can install it by the following steps:

mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-foxy-desktop -y --execution-timeout=0

Some highlights of this release:

Love your feedback and let us know on GitHub.

Also check out https://aka.ms/ros for ROS related components from Microsoft and partners which are supported on Linux and Windows. And more getting started tutorials on https://aka.ms/ros/docs.

Happy coding ROS Developers! :muscle::muscle::muscle:

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[WWW] https://discourse.ros.org/t/ros-on-windows-foxy-release-v20201211-0-0-2012290002/18241

ROS Discourse General: FreeRobotics.tools is looking for a new Maintainer

Hey ROS,

I’m looking for a new maintainer of freerobotics.tools as I personally will not work in the Robotic area anymore. My focus will be on climate satellite engineering, OpenSustain.tech and LibreSelery.

By maintaining this list you will get very intensive insights about how the open-source robotics community is changing and which trends, projects, organizations and technologies are existing here. It is one of the central starting points for newcomers in the open-source robotics field and offers experts the possibility to analyze which projects are missing.
Of course, there would be a small introduction from me and I will support your work as far as I can in the future. Here is a rough description of the field of activity:

  • Regular research of new projects.
  • Evaluation of projects: Does documentation exist? Is the project still maintained? Is the project interesting for other users?
  • Removal of inactive projects.
  • Working on pull requests.
  • Promotion of projects via Twitter. At the moment every new project is automatically promoted via the protontypes Twitter account by the awesome-twitter-action. We can also set up your Twitter account here. In this way people can just follow the Twitter account to get informed about listed new projects.

I would be very happy if we can keep the quality of the list in the future. If a person or organization can be found where the maintenance is secured over a long period of time, I am also willing to transfer the whole project to another namespace.

If you are interested, please contact me.

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[WWW] https://discourse.ros.org/t/freerobotics-tools-is-looking-for-a-new-maintainer/18236

ROS Discourse General: ROS on Windows: Noetic Release v20201214.0.0.2012281717

The Microsoft Azure Edge Robotics team is happy to announce another Noetic Release v20201214.0.0.2012281717 for Windows developers.

As usual, you can install it by the following steps:

mkdir c:\opt\chocolatey
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-noetic-desktop_full -y --execution-timeout=0

Some highlights of this release:

  • Based on the Noetic release sync 2020-12-14
  • Enabled packages:
    • Desktop_full
    • MoveIt
    • Navigation
    • ROSBridge_suite
    • SLAM
      • Cartographer
      • OpenKarto
  • Libraries and Python:
    • Boost 1.73.0
    • CMake 3.18.2
    • EmPY 3.3.4
    • Gazebo 10.2.0
    • OGRE 1.12.7
    • OpenCV 4.3.0
    • OpenSSL 1.1.1g
    • PCL 1.9.1
    • Poco 1.9.2
    • Python 3.8.3 (embeddable distribution)
    • Qt 5.15.0

Love your feedback and let us know on GitHub.

Also check out https://aka.ms/ros for ROS related components from Microsoft and partners which are supported on Linux and Windows. And more getting started tutorials on https://aka.ms/ros/docs.

Happy coding ROS Developers! :muscle::muscle::muscle:

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[WWW] https://discourse.ros.org/t/ros-on-windows-noetic-release-v20201214-0-0-2012281717/18229

ROS Discourse General: ROS 2 TSC Meeting Minutes: 2020-12-17

ROS 2 TSC Meeting Agenda 2020-12-17

Member contribution report (127.3 KB)

  • Attendees

    • Steve Macenski - Samsung Research
    • Aaron Blasdel - AWS RoboMaker (Amazon)
    • Kyle Fazzari - Canonical
    • Ralph Lange - Bosch
    • Nick Fragale - Rover Robotics
    • Jilada Eccleston - Tier IV
    • Dave Coleman, Mark Moll, Henning Kayser - PickNik
    • Brian Gerkey, Chris Lalancette, William Woodall, Geoff Biggs, Tully Foote, Kat Scott, Louise Poubel - Open Robotics
    • Will Son - ROBOTIS
    • Ian McMahon - Toyota Research Institute
    • Lokesh Kumar Goel - LG Electronics
    • Rob Woolley - Wind River (representing Andrei)
    • Joe Speed - ADLINK
    • Jaime Martin Losa - eProsima
    • Jerry Towler - SwRI (representing GVSC)

  • Preliminaries

    • [Gerkey] Fill in the contribution report in this doc!

  • Old business

  • New business

  • Recurring business

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[WWW] https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-2020-12-17/18182

ROS Discourse General: Detect Low Obstacles using Tilted 2D Lidar [experimental]

This method described in the article is experimental. It could satisfy my environment. Please do more tests if you want to use the idea on your product.

Best,
Marshal

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[WWW] https://discourse.ros.org/t/detect-low-obstacles-using-tilted-2d-lidar-experimental/18175

ROS Discourse General: New packages for Kinetic Kame 2020-12-21

We’re happy to announce 6 new packages and 43 updated packages for Kinetic Kame.

Thank you to all the maintainers and contributors who have helped make these updates possible. A full listing is below.

Package Updates for kinetic

Added Packages [6]:

  • ros-kinetic-color-util: 0.3.0-1
  • ros-kinetic-nav-grid-server: 0.3.0-1
  • ros-kinetic-robot-nav-rviz-plugins: 0.3.0-1
  • ros-kinetic-robot-nav-tools: 0.3.0-1
  • ros-kinetic-robot-nav-viz-demos: 0.3.0-1
  • ros-kinetic-stag-ros: 0.1.1-6

Updated Packages [43]:

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:

  • Brennan Cain
  • David V. Lu!!
  • Felix Messmer
  • Hans-Joachim Krauch
  • Mathieu Labbe
  • Philipp Schillinger
  • Russell Toris
  • Vladimir Ermakov

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[WWW] https://discourse.ros.org/t/new-packages-for-kinetic-kame-2020-12-21/18169

ROS Discourse General: New packages for Melodic 2020-12-21

We’re happy to announce the next update of ROS Melodic. There are 29 new packages as well as 108 updated packages. Full details are below.

Package Updates for melodic

Added Packages [29]:

Updated Packages [108]:

Removed Packages [0]:

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

  • Alexander Gutenkunst
  • Bence Magyar
  • Blake Anderson
  • Brennan Cain
  • Błażej Sowa
  • Chittaranjan Srinivas Swaminathan
  • Chris Lalancette
  • Dave Coleman
  • David V. Lu!!
  • Davide Faconti
  • Eurico Pedrosa
  • Felix Messmer
  • Filipe Almeida
  • Fábio Azevedo
  • Hans-Joachim Krauch
  • Isaac I. Y. Saito
  • Johannes Betz
  • Jon Binney
  • Josh Whitley
  • João Pedro Carvalho
  • Masaru Morita
  • Mathias Lüdtke
  • Mathieu Labbe
  • Michael Ferguson
  • Michael Görner
  • Nick Lamprianidis
  • Noda Shintaro
  • Philipp Schillinger
  • Raghavender Sahdev
  • Russell Toris
  • Ryohei Ueda
  • Sachin Chitta
  • Sammy Pfeiffer
  • Sebastian Pütz
  • Shadow Robot’s Software Team
  • Shunichi Nozawa
  • Tom Moore
  • Vincent Rousseau
  • Vladimir Ermakov
  • Yuki Furuta
  • furuta
  • nozawa

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[WWW] https://discourse.ros.org/t/new-packages-for-melodic-2020-12-21/18165

ROS Discourse General: [Poll] A possible new SBC for TurtleBot3?

Hi community,

I’m getting a good amount of inquiries about a new SBC that can replace the current RPi3B+ on TurtleBot3 and I’d like to see the actual ROS users’ preference.
Please understand that high performance modules will not be considered as possible options to keep TurtleBot3 within the affordable price.
Some users also requested to upgrade the sensor, but this may not be feasible at this time so let’s rule out the sensor part in this discussion.

SBC seems pretty dependent on the industries where the robot is deployed, so if you can also specify which the industry you are in, it’d be greatly appreciated and helpful to understand the result.

Please note that you can select multiple items for the SBC and items are listed in alphabetical order.

  • Jetson Nano
  • Raspberry Pi 4
  • UP Squared

0 voters

In which industry do you use TurtleBot3?

  • Commercial
  • Educational
  • Entertainment
  • Industrial
  • Logistics
  • Research & Development
  • Service

0 voters

Happy holidays and happy new year! :tada:

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[WWW] https://discourse.ros.org/t/poll-a-possible-new-sbc-for-turtlebot3/18144

ROS Discourse General: ROS News for the Week of 12/14/2020

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Christmas is Cancelled from FZI

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CoBot Christmas

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I was gifted this by an aspiring engineer this week. If you have similar awesome technical drawnings please drop them in the comments.

Seasons Greetings

Events

ROS Related

News

ROS Questions

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[WWW] https://discourse.ros.org/t/ros-news-for-the-week-of-12-14-2020/18086

ROS Industrial: ROS-Industrial Asia Pacific Workshop 2020

The Annual ROS-Industrial Asia Pacific Workshop took place on the 29th October 2020, this year in a one day digital webinar format. The workshop was opened by our Guest-of-Honor, Prof. Quek Tong Boon, Chief Executive of the Singapore National Robotics Programme. After the opening, Erik Unemyr, Consortium Manager for ROS-Industrial Asia Pacific, shared updates on the topic of “Industry Ready ROS 2 – Easy to Adopt Modules with Quality”, which comprised of the current technology focus the team has been developing in-house, including:

  1. easy_perception_deployment – a ROS2 Package that aims to accelerate the training and deployment of Computer Vision models for industry use (which is now in Beta release, and you can find it here)
  1. easy_manipulation_deployment – a ROS2 Package that has a user-friendly Graphical User Interface (GUI) to create a robotic workcell, and supports a variety of commonly used industrial end-effectors using a flexible grasp implementation approach. This will package will be released soon, to be made available on the ROS-Industrial GitHub.

Next, we had the opportunity to invite Roger Barga, General Manager at AWS Robotics, to present on “The Role of the Cloud in Future of Robotics”. During his presentation, he addressed the importance and necessity of applications in cloud computing such as using it for development of robotic applications in simulation, testing and deployment. AWS also currently supports ROS, ROS2 & Gazebo within their services.

Matt Robinson, Programme Manager for our ROS-Industrial counterpart in Americas at the Southwest Research Institute (SwRI), presented on “Enabling Production Performance in ROS-Based Systems” where he brought up the value of ROS2 for various industrial use cases and also showcased some of the developments happening at SwRI.

Sharing more details about the activities at the Advanced Remanufacturing and Technology Centre, Bai Fengjun, Technical Lead from the Advanced Robotics Applications team at ARTC, presented development on the Next Generation Hyper-Personalization Line and how ROS has played a part in the development of such applications for the Fast Moving Consumer Goods sector.

Michael Sayre, CEO & Co-Founder of Cognicept Systems, one of our Consortium Members in the Asia Pacific Region, then presented on the importance of error handling and remote management for robotic fleets, and their latest development of the ROS2 Listener agent that was developed together with the ROS-Industrial Team at ARTC. You can find the repository here.

Shortly after, Albertus Hendrawan Adiawahono, Head of the Mobility Group at the ASTAR Institute for Infocomm Research (I2R) presented on their current efforts with the local healthcare ecosystem to develop modules that would aid robots to be more resilient in the hospital ward setting, where the environment rapidly changes. They currently have completed Proof of Concepts in which the robots are able to adapt to lifts, curtains and even simulating a blue code emergency drill.

After the lunch break, we invited Jack Sheng Kee, Lab Director of the Delta Research Centre, a ROS-Industrial Consortium Member, to share on “Reconfigurable and Flexible Automation in Manufacturing” where he presented some of the existing solutions Delta has developed, and how they are all ROS supported.

We also had the team from Open Robotics, Marco Gutierrez and Grey, to present on roadmap updates with new features and future plans for Ignition Gazebo, ROS2 and also the Robotics Middleware Framework (RMF). The development of RMF has become a key effort in driving the integration and deployment of wide-scale smart robotics systems, which includes the communication between robots, building infrastructure and other edge devices.

Christoph Hellmann Santos, Consortium Manager for ROS-Industrial Europe at Fraunhofer IPA presented on the latest updates and success stories of both the ROSIN and ROS-Industrial Projects, such as the toolbox for automated delivery for the DHL Streetscooter and the real-time mapping project with Bosch Rexroth.

Prof Trygve Thomessen, Managing Director of PPM Robotics AS also presented ROSIN updates with the ROSWELD project, an application and success story of ROS being deployed in heavy industrial applications such as robotic welding. Last but not least, we had Andrei Kholodnyi, Principal Technologist at Wind River to present on “A Mixed-Critical ROS2 Implementation on VxWorks RTOS, WRLinux & Hypervisor” where he highlighted the use and importance of safety compliant and real-time solutions for ROS2 Applications.

A summarized table of all the speakers, including presentation slides and recording, is now available here!

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To conclude this year’s ROS-Industrial Workshop Asia Pacific, Dr. Zhang Jing Bing, Technical Division Director for Smart Robotics and Automation (SRA) at ARTC gave his closing remarks.

The ROS-Industrial Consortium Asia Pacific @ ARTC continue with a multi-prong approach in bridging the gaps between the industry and the community in adoption of ROS and robotics, by working closely with our industry partners and to develop modules that can cater for industrial needs, providing training opportunities for aspiring roboticists as well as companies that are embarking on leveraging ROS to scale their robotics adoption.

On behalf of the ROS-Industrial Team at ARTC, we hope that you enjoyed the webinar as much as we did, and we look forward to meeting each other in 2021 for future ROS-Industrial activities!

Workshop-2020
[WWW] https://rosindustrial.org/news/2020/12/18/ros-industrial-asia-pacific-workshop-2020

ROS Discourse General: ROS 2 Galactic Default Middleware Announced

Hi All,

You may recall that one of our main motivations in designing ROS 2 with a middleware abstraction is to provide end users with a flexible transport layer supported by a rich ecosystem of vendors. This competitive approach has already yielded dividends such as the FastDDS discovery service, IceOryx zero copy memory passing, and multiple innovations in MicroROS for embedded hardware. While some have called this “The DDS Wars” I prefer to think of it as the “DDS Cambrian Explosion”, as we see more and more vendors of DDS and other middlewares become interested in ROS 2, and how their implementations can bring new features to bear on different parts of the robotics ecosystem.

ROS 2 has long supported multiple middlewares, and will continue to do so. But of course there has to be a default configuration that just works for most users. As discussed in previous posts, starting with Galactic Geochelone the default RMW configuration for each ROS 2 distro will be selected by the ROS 2 Technical Steering Committee (TSC) after a thorough vetting process. It is worth noting that when we say default, we really do mean default, and users can continue to choose non-default RMW configurations. The TSC aims to choose the best default for each distro, but that doesn’t mean that it will be the best choice for every application. Importantly, changing the RMW configuration on your robot is simply a matter of running a handful of commands.

I am happy to announce that after careful consideration the ROS 2 TSC has selected CycloneDDS to be the default RMW for ROS 2 Galactic Geochelone. This vote is the result of a thoughtful review and discussion of the available options by the ROS 2 TSC, including a comprehensive technical evaluation of the Tier 1 RMWs by the team at Open Robotics. That report, including source code and data, is available to all. The report includes performance statistics about each RMW implementation, simulated and real world testing of each RMW, a review of the code quality and responsiveness of each RMW vendor, and a community survey. On balance, the similarities among the Tier 1 RMWs are greater than their differences, and this was a hard decision for the TSC. We hope you make use of the report in selecting your RMW implementation, and feel free to send us your feedback. We intend this report and its future iterations, as well as the tools developed in generating it, to be a neutral source of RMW information for the ROS community.

We’ll start implementing the TSC’s decision soon. We expect the change of the default RMW to CycloneDDS to be merged by late January 2021, and available for testing in Rolling soon after. We realize that this change will impact many users, but we also believe the impacts will be minimal. One important difference is that, whereas Foxy’s default behavior via FastDDS is asynchronous publishing (similar to ROS 1), Galactic’s default behavior via CycloneDDS will be synchronous publishing. This will change the behavior of calls to publish on a Publisher when more data is being sent than the network can handle, and perhaps in other cases; we’ll include more details in the near future (you can also read the report). If you encounter issues related to this or other changes when you update to Galactic, please report them! And remember that, as is the case now with Foxy, you can change your RMW configuration with just a handful of commands. If you would like to help with this process or would like to beta test the latest ROS 2 release (particularly on a larger multi-robot scenario) please contact me or the core dev team.

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[WWW] https://discourse.ros.org/t/ros-2-galactic-default-middleware-announced/18064

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