Planet ROS

Planet ROS - http://planet.ros.org

Planet ROS - http://planet.ros.org[WWW] http://planet.ros.org


ROS Discourse General: Last day to order Galactic Tshirts!

Last Day for Galactic Tshirts!

Today is the last day for ordering Galactic Tshirts. If you haven’t already, make sure to order your tshirts before the campaign ends!

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[WWW] https://discourse.ros.org/t/last-day-to-order-galactic-tshirts/21033

ROS Discourse General: ROS 2 TSC Meeting Minutes: 2021-06-17

ROS 2 TSC Meeting Agenda 2021-06-17

ROS 2 TSC Contribution Report 2021-06-17.pdf (122.3 KB)

  • Attendees
    • Open Robotics - Chris Lalancette, Kat Scott, William Woodall, Louise Poubel, Tully Foote, Brian Gerkey
    • Toyota Research Institute - Ian McMahon
    • Apex.AI - Lyle Johnson
    • Rover Robotics - Nick Fragale
    • ROBOTIS - Will Son
    • LG Electronics - Lokesh Kumar Goel
    • Microsoft - Lou Amadio, Dan Rosenstein
    • iRobot - Alberto Soragna, Lenny Story, Mauro Passerino
    • Canonical - Jeremie Deray (artivis)
    • Southwest Research Institute, representing GVSC - Jerry Towler
    • AWS - Aaron Blasdel, Emerson Knapp
    • Sony - Tomoya Fujita
    • Wind River - Andrei Kholodnyi
    • PickNik - Dave Coleman
    • ADLINK - Joe Speed
  • Preliminaries [5 mins]
    • [Brian][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
    • [Brian][4 mins]
      • Brian will be handing off Chairing the meeting to Kat
      • Canonical Representative is changing to Jeremie Deray
  • Old business [10 mins]
    • Membership changes:
      • [Brian/Kat][5 mins] – Community representatives implementation update
      • [Jaime][5 mins] – Update on FTE enforcement in charter amendment
        • Add 1 FTE enforcement policy by JaimeMartin · Pull Request #1685 · ros2/ros2_documentation · GitHub
        • Questions about how to evaluate 1 FTE.
          • It’s important to several members to allow variations in the intensity over the duration of the evaluation period.
          • Current approach: REP-2005.
          • We will discuss potential solutions and vote on the final implementation.
          • How do we select the scope of the evaluation committee?
          • Alexi – how to WG contribute to this number?
          • Lokesh – roadmap contribution seems too specific. What happens if someone doesn’t “complete” a task. “Complete” may not be specific enough
          • Chris – Roadmap is easy to update. Just describe what you want to do.
          • Brian – Please comment on PR in the next two weeks. Contact Kat/Brian when done.
        • Related updated from Autoware Foundation: The Autoware Foundation - FTE FAQ For Member Companies - Google Docs
      • [Joe] – Update on new applicant evaluation process
        • Tabled until next time
        • But important to do soon because we have at least one pending applicant
        • Not ready yet.
        • Please reach out to Kat / Brian when done.
  • New business [35 mins]
  • Recurring business [<= 40 mins]
    • [Chris][10 mins] Next ROS 2 distro release
      • Galactic
      • Humble roadmap in progress
        • Different roadmap this time
        • Open Robotics contributions will have a “theme” (still TBD)
        • To begin with, the roadmap will only have items that Open Robotics will work on
        • TSC members expected to add to roadmap as part of FTE commitment
        • Kat will post recent stats.
    • Working groups [<=5 mins each]
      • [Knese] Control
        • Redesign and work done for proper ros2_control_demos repository - including documentation
        • Current work for a Franka Panda robot demo in simulation as well as real robot with group effort controllers and admittance controllers.
        • New release for rolling and galactic (to unblock Moveit)
        • Ros2_control talk scheduled for the Construct’s “ROS Developer’s day” on Saturday, ros2_control considered for hands-on session during a ROSCon workshop.
      • [Speed] Edge AI
        • No new meetings
      • [Martin Losa] Embedded
        • micro-ROS Galactic release: post
        • micro-ROS supports NuttX 10
        • Avoiding the 64 kB XRCE size limit in micro-ROS post
        • Parameter Server example
        • Multiserial agent post
        • Type introspection in micro-ROS
        • micro-ROS + Arduino Nano RP2040 Connect post
        • Presentation by Felipe Neves [Espresssif] 20’ + 10’ (Q&A): live code fashion “Creating your out-of-tree ESP32 microROS enabled application” (There is no recording)
      • [Coleman] Manipulation
        • Releases for Rolling and Galactic getting close (target date June 30th)
        • New Foxy release completed
        • Want main MoveIt2 branch to target Foxy, Galactic, and Rolling at the same time. Expect to fork off Foxy eventually.
        • Everything migrated to Github Actions
        • ROS 2 demos for UR and Hello Robot still underway
      • [Woodall] Middleware
        • No new meetings due to lack of agenda items.
        • Work continues (slowly) on pull requests that were started in the working group.
      • [Macenski] Navigation
        • Map viz updates look really nice! We’ll have a QT map editing tool merged in soon with community contributions
        • New Python commander API added in a PR looking for reviewers
        • New updates to the Hybrid-A* planner speeding it up 2-3x are pending reviews
        • ROS Dev Day talk on Nav2 new features on Saturday!
      • [Kholodnyi] Real-time
      • [Biggs] Rust
        • No updates this month.
      • [Biggs] Safety
        • The second monthly presentation was well-attended and well-received.
        • Writing safer code
          • A certification example from Apex.OS
          • This talk will give an overview about automotive software development and present the workflow and tools used at Apex.AI. Furthermore, a certification code example from Apex.OS will be discussed. The talk will conclude with the presentation of our efforts to open-source the apex::threading library.
        • Having trouble finding a speaker for the July presentation slot. A call for speakers has been put out and contacts have been contacted but no luck yet.
      • [Jeremie] Security
      • [Knapp] Tooling
      • [Knapp] WebTools

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[WWW] https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-2021-06-17/21017

ROS Discourse General: Udemy course: Web-based Navigation with ROSBridge

I please to announce and provide the full release of my new course in the series ROS for Beginners, entitled

ROS for Beginners III: Web-based Navigation with ROSBridge

It is a project-based course that deals with how to develop a web interface to teleoperate and interact with ROS-enabled robots, including web-based navigation. It is based on ROSBridge and RoboWeb Tools.

Furthermore, we will use the ReactJS web development technology which the most evolving most popular javascript front-end development framework.

Check out the course overview on the video below.

https://youtu.be/cmQ-a8-0TeQ

To enroll for early access:

https://www.riotu-lab.org/udemy.php

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[WWW] https://discourse.ros.org/t/udemy-course-web-based-navigation-with-rosbridge/21000

ROS Discourse General: ROS News for the Week of 6/17/2021

ROS News for the Week of 6/17/2021


Virtual Robot X Competition 2022



Goodbye Dashing, We Hardly Knew Yee



ROSCon Registration is Live!

Events

News

ROS

ROS Questions

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[WWW] https://discourse.ros.org/t/ros-news-for-the-week-of-6-17-2021/20984

ROS Discourse General: Dynamically subscribing to nodes in ROS2 after rospy.spin

I and at least 1 other person and several other people online ran into this issue where if you create_subscription after rclpy.spin (say in a thread) it will not execute any callbacks.

I googled and googled and found no answers. ROS1 to ROS2 migration documentation is still in a pretty sad state unfortunately since in ROS1 this stuff just works. Then I pulled my hair out for 3 hours and figured out a voodoo black magic answer. Here’s the answer, in case more people go googling and hopefully stumble upon this:

  • Create at least one subscriber before rclpy.spin(). It can be a dummy subscriber and doesn’t need to actually do anything

  • After self.create_subscription(...), add a self.guards line. It looks weird like that on a line by itself, I have no idea what it does, but this magic incantation works. If you use the non-classy way to do it, i.e. node.create_subscription(...), then it will be node.guards.

Yes, literally like that.

class MyFooNode(Node):
    def __init__(self)
        super().__init__(node_name = "my_foo_node")
        self.create_subscriber(...) # any old dummy subscriber, won't work without a dummy
        threading.Thread(target = some_thread, daemon = True).start()

    def some_thread(self):
        # Dynamically subscribe to 10 topics
        for i in range(10):
            time.sleep(10)
            self.create_subscription(
                String,
                "/some_dynamic_topic_%d" % i,
                functools.partial(on_message, topic_num = i) # they took away the args= feature of ROS1
                10
            )
            self.guards # MAGIC !! won't call the callback without this!

    def on_message(msg, topic_num = 0):
        print("Received a message on topic number %d:" % topic_num, msg)

def main(args=None):
    # boilerplate verbose ros2 stuff
    rclpy.init(args=args)
    node = MyFooNode()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

If someone can can explain why this magic works I’d love it, but until then just posting a solution online for the other people googling for this!

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[WWW] https://discourse.ros.org/t/dynamically-subscribing-to-nodes-in-ros2-after-rospy-spin/20959

ROS Discourse General: Rosbags - the pure python library for everything rosbag

Hi all,

I’d like to announce rosbags, a pure python library giving read-write access to rosbag1 and rosbag2 files including their conversion.

Rosbags does not have any dependencies on the ROS software stacks and can be used on its own or alongside ROS1 or ROS2. It is available from PyPI for easy installation.

It currently contains:

  • rosbag2 reader and writer,
  • rosbag1 reader for raw messages,
  • extensible type system with serializers and deserializers,
  • efficient converter between rosbag1 and rosbag2,

We’d be happy to learn your use cases.

Cheers,
Florian

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[WWW] https://discourse.ros.org/t/rosbags-the-pure-python-library-for-everything-rosbag/20944

ROS Discourse General: Announcing Virtual RobotX Competition 2022

We are excited to announce we will once again be hosting the Virtual RobotX (VRX) Competition, opening this fall and culminating with Finals and awards in April 2022.

The VRX Competition offers a low-cost entry point for teams of students interested in building skills in maritime autonomy, learning more about using simulation environments, competing in RobotX, or all the above. The competition will be run virtually within the VRX platform, an open-source, Gazebo-based simulation environment built by Open Robotics and the Naval Postgraduate School.

Teams from around the world are encouraged to participate. Participants will have the chance to use VRX to develop innovative solutions for an Autonomous Surface Vehicle (ASV) that can complete various tasks in the simulated environment. The competition tasks are created in coordination with the designers of RobotX to help teams develop capabilities that will aid their efforts in the 2022 Maritime RobotX Challenge.

The competition will be hosted and judged by the Naval Postgraduate School (NPS) and Open Robotics (OR), in partnership with RoboNation and the U.S. Office of Naval Research.

More details to follow! In the meantime, check out the VRX site and platform at www.robotx.org/vrx-2022.

What’s coming next :

Please do not hesitate to reach out to us with any questions you may have.

Sincerely, The Virtual RobotX Team

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[WWW] https://discourse.ros.org/t/announcing-virtual-robotx-competition-2022/20932

ROS Discourse General: Reliability, Scalability and Congestion Control

Dear ROSers,

We have been asked a few times how zenoh reliability works, how it scales and how does zenoh do with congestion control – some of the questions were coming from ROS2 community members. To try to give an organised answer we’ve just posted a blog that, hopefully, should answer the key questions. I hope you’ll enjoy the reading and as always looking forward to hearing back your comments and feedback.

Take Care!

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[WWW] https://discourse.ros.org/t/reliability-scalability-and-congestion-control/20930

ROS Discourse General: Retiring #ros on Freenode IRC

With the recent changes at Freenode we have decided that we should no longer host or promote the IRC channel there. If you have not seen the recent coverage I’ve provided a few links below to new coverage. There’s a lot more information out there.

We have removed references to the channel and recommend that users not use it. In the recent changes we like many other projects have lost control of the channel and can no longer update the description.

We have specifically not setup a new IRC channel because historically the IRC channel has not had significant participation in the ROS community, recently it’s been a few messages per week. Which compares to answer.ros.org with hundreds of interactions per day. There has been a lengthy discussion of potential alternatives however we have reached no consensus. As such we’d like to focus now on consolidating on using the slightly more asynchronous but persistent solutions for communications of discourse.ros.org and answers.ros.org. They are generally more accessible and provide an easily searchable archive.

Recent news about Freenode:

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[WWW] https://discourse.ros.org/t/retiring-ros-on-freenode-irc/20925

ROS Discourse General: ROS News for the Week of 6/7/2021

ROS News for the Week of 6/7/2021


openpose_tx2_mobilenet3
Open Pose for ROS 2 Foxy


image
Goodbye Dashing Diademata

A Couple of ROSCon Notes!

Events

News

ROS

ROS Questions

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[WWW] https://discourse.ros.org/t/ros-news-for-the-week-of-6-7-2021/20893

ROS Discourse General: Tutorials for unit and integration testing of ROS scripts and packages

Those from programming background understand the importance of unit testing and integration testing, even for ROS programs. But quite many ROS users are beginners in programming/CS. Some have their first interaction with programming while exploring ROS and writing their first few node scripts.

A good set of tutorials with examples on how to use unittest and rostest would improve code quality of ROS packages.

13 posts - 10 participants

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[WWW] https://discourse.ros.org/t/tutorials-for-unit-and-integration-testing-of-ros-scripts-and-packages/20892

ROS Discourse General: Examples on how to stream video and data over Webrtc

Hi,

I successfully reproduced this tutorial: Developing Web Interfaces For ROS Robots #4 - Streaming robot's camera on the web page - The Construct (streaming a simulated camera over a webpage through websockets).

I would like to use a webrtc node (webrtc_ros - ROS Wiki) instead of a video server for streaming the video. Any advices on how I can do that?
If you have examples/tutorials where a webrtc connection is use to steam video and other data, I would also greatly appreciated :slight_smile:

Thank you.

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[WWW] https://discourse.ros.org/t/examples-on-how-to-stream-video-and-data-over-webrtc/20889

ROS Discourse General: [Blog and Sample Application] Deploy and Manage ROS Robots with AWS IoT Greengrass 2.0 and Docker

Hi All!

AWS recently released a new blog about how to deploy and manage ROS applications with AWS IoT Greengrass 2.0 and Docker.

AWS IoT Greengrass 2.0 is an open-source edge runtime and cloud service that reduces complexities when deploying and managing ROS applications on robots. With AWS IoT Greengrass 2.0, developers can add local compute, messaging, and data management capabilities to their robotics fleets. This helps developers reliably deploy updates, remotely manage software, and securely connect robots to cloud services. You can use AWS IoT Greengrass 2.0 to:

  • Remotely manage the application lifecycle (install, run, and shutdown) on robots
  • Deploy software updates over-the-air to fleets of robots
  • Securely connect robots to operator-facing dashboards and monitoring tools
  • Deploy machine learning (ML) models and run ML inference at the edge for tasks like object detection and image classification
  • Ingest large amounts of raw telemetry, sensor data, and logs into cloud-based stream processing services like Amazon Kinesis

The sample application runs three containers using a Docker Compose file. Two of the containers run the ROS2 demo_node_cpp ROS package with a talker and a listener. This demo uses local ROS messaging to send and receive a “ Hello World ” message over the ROS topic /chatter. A third container uses the AWS IoT Greengrass SDK to bridge messages published over the ROS topic /chatter with a local socket used by AWS IoT Greengrass for interprocess communication between components. AWS IoT Greengrass then relays the message over an MQTT topic named chatter in the cloud.

To check out the open source sample code:

And to read the entire blog:

If you are interested in the solution, feel free to reach out!

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[WWW] https://discourse.ros.org/t/blog-and-sample-application-deploy-and-manage-ros-robots-with-aws-iot-greengrass-2-0-and-docker/20886

ROS Discourse General: ROS/ROS2/Micro-ROS Product in Market

Hi,

out of curiosity, i would really like to know ROS/ROS2/Micro-ROS product in the market. if anyone has any idea or information about the marketing, please leave some comments here :smiley:

Best,

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[WWW] https://discourse.ros.org/t/ros-ros2-micro-ros-product-in-market/20884

ROS Discourse General: New packages and patch release for ROS 2 Dashing Diademata 2021-06-10 final

I’m delighted to announce the final sync and patch release for ROS 2 Dashing Diademata.
You can find the patch release on GitHub.

Dashing was our first long-term support (LTS) release of ROS 2 with a two year support window. During that time we have had 9 patch releases, 20 syncs, and 732 bloom releases! Dashing has grown from 292 packages upon its first release to 621 packages today.

Borrowing the pie chart from the Kinetic EOL post we can see Dashing is shown holding at just under 5%of downloads in both 2020 and 2021.

The following 69 maintainers contributed to ROS 2 Dashing:

AAlon, Adam Allevato, Arne Hitzmann, Arne Nordmann, Bence Magyar, chapulina, Chris Lalancette, Christian Rauch, Christophe Bedard, Christoph Rösmann, Claire Wang, Daniel Stonier, Davide Faconti, David V. Lu, Devin Bonnie, Dirk Thomas, doronhi, Ed Venator, Emerson Knapp, Esteve Fernandez, Evan Flynn, Felix Ruess, Hadi Tabatabaee, ivanpauno, Jacob Perron, Jan Staschulat, Jeffrey Kane Johnson, Jesse Ikawa, Jose Luis Rivero, Joshua Whitley, Junho Lee, Karsten Knese, Mark Moll, Mathias Lüdtke, Max Krichenbauer, Michael Carroll, Michael Ferguson, Michael Jeronimo, Michael Lehning, Michel Hidalgo, Mikael Arguedas, M. M, New Eagle, Nick Burek, Nuno Marques, P. J. Reed, poggenhans, Pyo, RachelRen05, Ralph Lange, Robert Haschke, Rousseau Vincent, ryanewel, Ryan Newell, Scott K Logan, Sean Kelly, sgvandijk, Shane Loretz, Sharron LIU, Shota Aoki, Steve Macenski, Steven! Ragnarök, Thijs, Thomas Moulard, Tully Foote, William Woodall, Will Son, Wolfgang Merkt, Youngjin Yun

I want to thank all the above maintainers and all of their collaborators who have helped support Dashing through the years. We hope to continue working with you for Foxy, Galactic, Humble, and beyond!

Package Updates for dashing

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

Added Packages [15]:

  • ros-dashing-raptor-can-dbc-parser: 1.0.0-1
  • ros-dashing-raptor-dbw-can: 1.0.0-1
  • ros-dashing-raptor-dbw-joystick: 1.0.0-1
  • ros-dashing-raptor-dbw-msgs: 1.0.0-1
  • ros-dashing-raptor-pdu: 1.0.0-1
  • ros-dashing-raptor-pdu-msgs: 1.0.0-1
  • ros-dashing-realsense2-camera-msgs: 3.2.1-1
  • ros-dashing-realsense2-description: 3.2.1-1

Updated Packages [83]:

  • ros-dashing-actionlib-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-common-interfaces: 0.7.0-1 → 0.7.1-1
  • ros-dashing-diagnostic-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-dynamixel-sdk: 3.7.30-1 → 3.7.40-10
  • ros-dashing-fmi-adapter: 0.1.7-1 → 2.0.0-1
  • ros-dashing-fmi-adapter-examples: 0.1.7-1 → 2.0.0-1
  • ros-dashing-fmilibrary-vendor: 0.2.0-1 → 1.0.1-1
  • ros-dashing-geometry-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-hls-lfcd-lds-driver: 2.0.1-1 → 2.0.3-1
  • ros-dashing-launch-ros: 0.8.9-1 → 0.8.10-1
  • ros-dashing-launch-testing-ros: 0.8.9-1 → 0.8.10-1
  • ros-dashing-nav-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-rcl: 0.7.9-1 → 0.7.10-1
  • ros-dashing-rcl-action: 0.7.9-1 → 0.7.10-1
  • ros-dashing-rcl-lifecycle: 0.7.9-1 → 0.7.10-1
  • ros-dashing-rcl-yaml-param-parser: 0.7.9-1 → 0.7.10-1
  • ros-dashing-rclc: 0.1.7-1 → 1.0.0-1
  • ros-dashing-rclc-examples: 0.1.7-1 → 1.0.0-1
  • ros-dashing-rclc-lifecycle: 0.1.7-1 → 1.0.0-1
  • ros-dashing-rclcpp: 0.7.15-1 → 0.7.16-1
  • ros-dashing-rclcpp-action: 0.7.15-1 → 0.7.16-1
  • ros-dashing-rclcpp-components: 0.7.15-1 → 0.7.16-1
  • ros-dashing-rclcpp-lifecycle: 0.7.15-1 → 0.7.16-1
  • ros-dashing-rmw-gurumdds-cpp: 0.7.9-1 → 0.7.12-1
  • ros-dashing-rmw-gurumdds-shared-cpp: 0.7.9-1 → 0.7.12-1
  • ros-dashing-ros1-bridge: 0.7.8-1 → 0.7.9-1
  • ros-dashing-ros2launch: 0.8.9-1 → 0.8.10-1
  • ros-dashing-rviz-assimp-vendor: 6.1.7-2 → 6.1.8-1
  • ros-dashing-rviz-common: 6.1.7-2 → 6.1.8-1
  • ros-dashing-rviz-default-plugins: 6.1.7-2 → 6.1.8-1
  • ros-dashing-rviz-ogre-vendor: 6.1.7-2 → 6.1.8-1
  • ros-dashing-rviz-rendering: 6.1.7-2 → 6.1.8-1
  • ros-dashing-rviz-rendering-tests: 6.1.7-2 → 6.1.8-1
  • ros-dashing-rviz-visual-testing-framework: 6.1.7-2 → 6.1.8-1
  • ros-dashing-rviz2: 6.1.7-2 → 6.1.8-1
  • ros-dashing-sensor-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-shape-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-slam-toolbox: 2.0.3-1 → 2.0.4-1
  • ros-dashing-std-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-std-srvs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-stereo-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-system-modes: 0.4.2-1 → 0.6.0-2
  • ros-dashing-system-modes-examples: 0.4.2-1 → 0.6.0-2
  • ros-dashing-trajectory-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-visualization-msgs: 0.7.0-1 → 0.7.1-1
  • ros-dashing-xacro: 2.0.4-1 → 2.0.6-1

Removed Packages [0]:

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[WWW] https://discourse.ros.org/t/new-packages-and-patch-release-for-ros-2-dashing-diademata-2021-06-10-final/20875

ROS Discourse General: Building (without colcon?) and installing to system?

Hi all,
My “standard” way of deploying production-ready ROS1 packages was to install them to the system, using a script like this:

Basically, when run from any ROS1 package folder, it will build and install the package to /opt/ros/<kinetic, melodic, noetic, …>

I want to build a similar script for ROS2, so that I can just git clone a ROS package and directly install it no-questions-asked without needing to manually create a dev workspace, or having to put it into a dev workspace, but colcon doesn’t have an install option. Suggestions?

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[WWW] https://discourse.ros.org/t/building-without-colcon-and-installing-to-system/20859

ROS Discourse General: New packages for Melodic 2021-06-09

We’re happy to announce the next update of ROS Melodic. There are 11 new packages as well as 75 updated packages. Full details are below.

Package Updates for melodic

Added Packages [11]:

Updated Packages [75]:

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
  • Alexey Rogachevskiy
  • Atsushi Watanabe
  • Blake Anderson
  • Chittaranjan Srinivas Swaminathan
  • Chris Iverach-Brereton
  • Dave Coleman
  • David V. Lu!!
  • Davide Faconti
  • Dennis Maier
  • Felix Exner
  • G.A. vd. Hoorn
  • Isaac I. Y. Saito
  • Jon Binney
  • Justin Carpentier
  • Kevin Hallenbeck
  • Martin Pecka
  • Mathias Lüdtke
  • Michael Ferguson
  • Michael Görner
  • Mike Purvis
  • Oleg Kalachev
  • RT Corporation
  • Raghavender Sahdev
  • Robert Haschke
  • Tim Clephas
  • Tony Baltovski
  • Tyler Weaver

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[WWW] https://discourse.ros.org/t/new-packages-for-melodic-2021-06-09/20848

ROS Discourse General: Foxglove Studio Blog – ROS Tutorials & more!

From the beginning, our goal at Foxglove has been to help you spend less time fighting your tools, and more time focusing on what your robots are doing.

By developing Foxglove Studio, our team wanted roboticists to be able to compose their dream workspace for visualizing & debugging their robotics data – all within one seamless development experience.

To keep you up-to-date on how we’re doing just that, we’ve launched a blog to regularly share out our product roadmap and general robotics content that the wider community may find useful.

For our first series of posts, we’ve been focusing on introductory ROS tutorials (ROS 1 for now, ROS 2 coming soon), but we’d love to hear what you all want to learn more about!

Our most recent posts:

As always, feedback is always welcome! You can reach us with suggestions for future blog posts on Slack or Twitter.

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[WWW] https://discourse.ros.org/t/foxglove-studio-blog-ros-tutorials-more/20838

ROS Discourse General: Announcing the Hardware Acceleration WG, meeting #1

Dear all,

For the past month we registered interest on Hardware Acceleration within the ROS 2 community. Thanks all those that showed support or contacted directly! We are excited to see that this topic has raised so much interest and we at Xilinx are motivated to push forward hardware acceleration in robotics and contribute in the open with tools and accelerators that impact ROS 2 and Gazebo flows. For all those that asked, our reference hardware platform will initially be the Kria K26 Adaptive SOM, with its reference carrier board for vision and perception.

If you’d like to stay more tuned to our progress and be notified of meetings, join the Google Group we’ve created. Also, you could check out the information below or simply stay tuned to the wg-acceleration tag:

More details about the Hardware Acceleration WG (HAWG)

With all this, we’re happy to call for the first official WG meeting:

Meeting #1

Come join us during the first meeting of the ROS 2 Hardware Acceleration Working Group. The plan for this first meeting is to ==demonstrate current hardware acceleration flows with ROS 2==. We also would like to discuss other hardware acceleration efforts and see how all this can be brought together. For the initial demonstrations we will focus on the following preliminar architecture we’ve been working on to bring acceleration natively to the ROS 2 build system (ament) and meta build tools (colcon). This should facilitate ROS 2 centric acceleration flows using both C++ and/or OpenCL:

        ROS 2 stack                        HAWG @ ROS 2 stack

+------------------------+             +--------------------+
|                        |             |  xilinx_examples   |
|       user land        |  +-------------------+-----------+-------+--------------+
|                        |  |       Drivers     |     Libraries     |    Cloud     |
+------------------------+  +---------------+---+--------+----------+--------------+
|                        |  |   ament_vitis | ament_rocm |          |  accel_fw    |
|                        |  +---------------+----------+-+----------+--------------+
|     ROS tooling        |  |     ament_acceleration   | colcon_accel |  accel_fw  |
|                        |  +------------------------------------------------------+
|                        |  |      build system        |   meta build |  firmware  |
+------------------------+  +--------------------------+--------------+------------+
|  ROS client library    |
+------------------------+
|  ROS middleware iface  |
+------------------------+
| middleware impl. adapt |
+------------------------+
|                        |
|    middleware impl.    |
|                        |
|                        |
+------------------------+

We’d love to hear about your acceleration projects so feel free to drop here a line of what you’d like to share with the group and we’ll coordinate time slots, either in this meeting or in follow up ones.

The fist meeting has been originally scheduled to be 30 minutes at a friendly time in America, late afternoon in Europe and horribly bad time in Asia (sorry for that). We’ll be rotating friendly-hours between America and Asia if anyone requests us to do so.

  • Time: 2021-06-30T18:00:00Z.
  • Coordinates: Zoom
    • Phone one-tap: US: +17209289299,99299967182#,0#,8504098917# or +19292056099,99299967182#,0#,8504098917#
    • Meeting URL: Launch Meeting - Zoom
    • Meeting ID: 992 9996 7182
    • Passcode: Xk.X73&rNY
  • Preliminary agenda:

    1. Introductions
    2. ROS 2 Hardware Acceleration WG, quick review of objectives, rationale and overview
    3. Initial hardware acceleration architecture for ROS 2 and short demonstrations
    4. Community hardware platforms (e.g. Ultra96-v2), process and steps
    5. Q&A
    6. (your acceleration project)

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[WWW] https://discourse.ros.org/t/announcing-the-hardware-acceleration-wg-meeting-1/20826

ROS Discourse General: Fleet Management

Hello,

I am developing Fleet management system for multi robots and looking for optimized and standard method for traffic control and path planning. Do the centralized system get the input from device and make plan or devices communicate each other and make a diversion while moving.

Please share your thoughts

Thanks

5 posts - 3 participants

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[WWW] https://discourse.ros.org/t/fleet-management/20824

ROS Discourse General: Talk "Introducing Eclipse iceoryx Almond (v1.0.0)"

Hi all,

tomorrow 2021-06-08T15:00:00Z there will be a talk “Introducing Eclipse iceoryx Almond (v1.0.0)”. The talk will give an introduction to Eclipse iceoryx and provide a summary of the new features in the Almond release. Feel free to register at Introducing Eclipse iceoryx Almond (v1.0.0) - Virtual Eclipse Community Meetup - Crowdcast

Hope to see you tomorrow,
Simon

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[WWW] https://discourse.ros.org/t/talk-introducing-eclipse-iceoryx-almond-v1-0-0/20813

ROS Discourse General: RSS 2021 workshop about founding robotics startups!

Interested in escaping from academia, and starting your own robotics company? Then, you should attend our workshop at RSS next month!

We are going to have founders with PhDs share their experience and wisdom, hopefully giving you just the right hints to begin your robotics startup adventure. The focus is not ROS per se, but some of the founders can comment about ROS in the context of their startup.

Confirmed Presenters (all founders):

  • Vivian Chu, Diligent Robotics
  • Matanya Horowitz, AMP Robotics
  • Tessa Lau, Dusty Robotics
  • Ross Mead, Semio

…more presenters and details will be announced soon!

If you are interested, please take a small survey at https://www.surveymonkey.com/r/FJLR9G8

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[WWW] https://discourse.ros.org/t/rss-2021-workshop-about-founding-robotics-startups/20788

ROS Discourse General: Post-mortem: ROS GPG Key Expiration Incident

Authors: @Katherine_Scott @nuclearsandwich
Reviewed by: @cottsay @tfoote

Incident team: @cottsay @gbiggs @Katherine_Scott @nuclearsandwich @tfoote

Last week the published GPG public key which is used for the ROS and ROS 2 repositories expired causing repository verification errors when updating or installing packages from the ROS apt and rpm repositories. We created the current signing keypair as part of the total redeployment of the ROS build farm in 2018 as a precautionary measure following unauthorized access to the ROS build farm Jenkins hosts1. In our haste to provision new keys to respond to this event we published a public key with a default expiration date of two years in the future. The expiration date of this new key was noticed and a question about it was raised internally; the team resolved to revisit our key use and rotation practices. However, we never did revisit our key rotation policies and so the expiration date of the previously published public key came and went. While the expiration of the key caused inconvenience and halted some ROS services, the security of ROS services and the integrity of the ROS repositories were not affected.

The public key expired on 2021-05-29T00:00:00Z and shortly after we started receiving the first reports of GPG verification errors from both the community and via build farm alert emails.
Shortly afterward members of the ROS team at Open Robotics returned from their Friday evening activities and upon seeing the Discourse and build farm traffic returned to work and began working toward a resolution. We determined that publishing a new public key with an updated expiration date was the minimum necessary resolution and work began on that process. We also considered rotating the private key but decided not to change more than strictly necessary. In tandem we began itemizing a list of locations the public key text would need to be updated across ROS project infrastructure and made preparations to do so.
We decided to set the expiration date for the current key to 2025-06-01 which means that we expect the current signing key to be valid for the entire support lifespan of Ubuntu 20.04, which is the primary platform for all of our currently active releases including ROS Noetic, ROS 2 Foxy, and ROS 2 Galactic. Updating the public key alone created unforeseen challenges with some downstream processes including our own build farm deployment, which did not automatically import the changed public key after it was updated on disk and in our Docker image building process.

As we begin preparations for ROS 2 Humble on Ubuntu 22.04 we will be updating our repository and key management practices in the following ways:

  1. Migrate repository and key configuration to apt and rpm packages which are distributed both as standalone downloads and via our existing apt and rpm repositories to allow us to provide updates to the repository keys and related configuration when your system performs upgrades to other system and ROS packages.This has an added benefit of simplifying the process for adding ROS repositories to a system.

  2. Create a physically secure root key and generate subkeys for specific deployments such as the ROS snapshots, ROS bootstrap, ROS build farm, and Gazebo repositories to start building a more robust network of trust around our GPG keys and take advantage of rotating subkeys to reduce the need to invalidate public keys with frequency.

  3. Devise a key rotation schedule for the deployment subkeys based on either calendar time or target platform in order to reduce the blast radius of a possible compromise of one of the deployed subkeys.

  4. Update our internal incident response procedures based on employee feedback from our internal debriefing of this incident.

We hope these measures will prevent all future key expiration issues. We would like to thank all of the ROS users who reported the issue and have worked with us to address the downstream consequences, particularly @marguedas and @ruffsl for handling the updates to the Docker image builds.

With a project as large as ROS there are many different venues for reporting problems when you encounter them. When something is not working for you we encourage you to check ROS Answers and look for questions there related to your issue or post one yourself. You can always check on the posted status of ROS infrastructure on the ROS Status page and if you think there is an issue with ROS infrastructure you can report it by opening an issue on the osrf/infrastructure repository which has been created to field infrastructure issue reports.

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[WWW] https://discourse.ros.org/t/post-mortem-ros-gpg-key-expiration-incident/20785

ROS Discourse General: Updates to Foxglove Studio (v0.10.2) for ROS visualization + debugging

Hello all,

It’s been a while since we first introduced Foxglove Studio (foxglove.dev), our open source tool for comprehensive robotics data visualization and debugging.

We recently released v0.10.2, with some exciting new features to help accelerate your ROS dev workflows:

  • Improved app initialization performance
  • Streamlined UI – Integrated workspace controls into one convenient sidebar UI – use to configure app preferences, perform layout actions, and set variables.
  • ROS 1 Publishing – Bundled ROS 1 common data types & added support for publishing via the native ROS connection.
  • Common ROS datatypes – Added & exposed built-in definitions for common ROS datatypes.
  • @foxglove/rosmsg – Added a package specifically for ROS message parsing.
  • Image panel improvements – Optimized camera tuning capabilities & added custom zoom levels, more image encodings, and marker array support for overlaid markers.

We also have some exciting work in progress to support several widely requested features: shared team layouts, user-contributed extensions (e.g. custom panels for your project-specific needs), and ROS 2 support.

You can download the app at foxglove.dev/download, and check out our full release notes and documentation for more details!

As always, feedback is always welcome – reach us with feature requests and questions here in this thread, or on Slack, GitHub, and Twitter.

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[WWW] https://discourse.ros.org/t/updates-to-foxglove-studio-v0-10-2-for-ros-visualization-debugging/20783

ROS Discourse General: New packages for Foxy Fitzroy 2021-06-03

We’re happy to announce new package for Foxy Fitzroy!

Package Updates for foxy

Added Packages [14]:

Updated Packages [60]:

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
  • Anas M’chichou
  • Apex.AI, Inc.
  • Armin Hornung
  • Arne Nordmann
  • Bence Magyar
  • Christoph Sprunk
  • Dan Lazewatsky
  • Daniel Stonier
  • Dave Coleman
  • Davide Faconti
  • Dirk Thomas
  • Dorian Scholz
  • Doron Hirshberg
  • Felix Exner
  • Francisco Martín
  • Hunter L. Allen
  • Karsten Knese
  • Konstantin Schauwecker
  • Mabel Zhang
  • Michael Carroll
  • Michel Hidalgo
  • Mike Lautman
  • MoveIt Release Team
  • Robert Haschke
  • Scott K Logan
  • Sergey Dorodnicov
  • Stefan Laible
  • Victor Lopez
  • Vladimir Ermakov
  • Youngjin Yun
  • karsten
  • ymd-stella

:foxy: :turtle:

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[WWW] https://discourse.ros.org/t/new-packages-for-foxy-fitzroy-2021-06-03/20770

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