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

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


ROS Discourse General: ROS News for the Week of 7/27/2020


New Semantic Segmentation Model



Champ Quad Controller

ROS News for the Week of 7/27/2020

DARPA SubT News

Tutorials and Videos

Surveys
Please take the time to help make the community better by giving feedback

Events

ROS 2 News*

Packages and Such

Everything Else

Bad Robot Ideas
This week seemed to be full of really dangerous robot applications. I think the pandemic is making people stir crazy

Got something interesting to share? Have an event planned? Please drop it in the comments or drop me a line.

5 posts - 4 participants

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[WWW] https://discourse.ros.org/t/ros-news-for-the-week-of-7-27-2020/15698

ROS Discourse General: [Blog & Sample application] Testing the PR2 in the Hospital World

Hi all,
AWS released a new Hospital World for Gazebo simulation, and I wrote a blog with a quick tour and some interesting failures I encountered while testing a PR2 in the world. I hope you enjoy it, feedback in the comments is welcome!

We also released a sample application if you want to try it yourself: https://github.com/aws-samples/aws-robomaker-sample-application-pr2-hospital

3 posts - 2 participants

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[WWW] https://discourse.ros.org/t/blog-sample-application-testing-the-pr2-in-the-hospital-world/15694

ROS Discourse General: How do you mitigate robot bugs and issues related to system resources?

Hi All,

How do you mitigate bugs and issues related to system resources?

I’ve seen some CRAZY things happen when resources get overloaded.

I wrote a blog illustrating some of the crazy things I’ve seen across the after talking with hundreds of robotics teams, a pattern started emerging where resource monitoring is very hard with ROS and robots in general.

We (at Freedom Robotics) built a tool - The Robotics Resource Monitor - to log and monitor system resources on any robot (GPU, network connectivity, topic data, webRTC diagnostics) and correlate this information with ROS-specific topics and processes. I would love to get feedback on how I can make this better

It installs in one line and data is logged historically so you can go back in time… and we’re giving it away for free for a year here.


Here is network bandwidth broken down by topic it shows a /tf topic with message size and update rate graphed over time - i’ve used this to correlate robot specific issues to compute overload or internet dropouts

So honestly, I didn’t give a hoot about CPU, GPU, Memory or Network utilization for the longest time. It’s just such a detail it had seemed but I’ve changed my mind completely on this.

I broke a lot of robots by accident…

Here is what happened. Full usage of the GPU, combined with poor cooling, increased the temperature of the unit and the CPU switched to a lower-compute mode. Perception algorithms weren’t able to keep up with the frame rate, so frame callbacks start to stack up with unstable consequences. Finally motor updates slowed down and became unstable, which created a resonance in the robot. All of this was identified and tracked by viewing historical system resources.

These resources are the lifeblood of a robot - when they run out bananas�stuff happens - am I crazy? Does anyone else feel this way?


Here is an example of compute and memory broken down by nodes. This one has a pretty obvious memory leak.

6 posts - 5 participants

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[WWW] https://discourse.ros.org/t/how-do-you-mitigate-robot-bugs-and-issues-related-to-system-resources/15682

ROS Discourse General: ROS 2 Security Working Group Meeting (28 Jul 2020)

The next ROS 2 Security Working Group Meeting is scheduled for 2020-07-28T16:00:00Z2020-07-28T16:30:00Z.

Please add any discussion topics and updates for action items to the agenda.

Join us by Google Hangouts Meet or by phone at (US) +1 617-675-4444‬ PIN: ‪403 366 484 4125‬#.

2 posts - 2 participants

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[WWW] https://discourse.ros.org/t/ros-2-security-working-group-meeting-28-jul-2020/15626

ROS Discourse General: UPLAT: Virtual Robotics Laboratory (www.theuplat.com)

Dear ROS Educators;

COVID-19 negatively affects the education program of many universities.

In this context, we sincerely recommend our Virtual Robotics Laboratory (www.theuplat.com) that is developed and launched for Education and Research purposes.

In this context, you and your students can improve ROS Robotics projects by learning from home.

• Learning materials such as Gazebo Web, Theia and Jupyter are available on the platform.
• Does not require ROS and Unix / Linux operating system installation.
• Application experience is gained with simulated robots.
• Projects are easily executed with a user-friendly web interface.
• Users follow the lessons on their own.

For detailed information, please visit our website. (www.theuplat.com)

Best regards.

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[WWW] https://discourse.ros.org/t/uplat-virtual-robotics-laboratory-www-theuplat-com/15590

ROS Discourse General: ROS Update for the week of 7/20/2020

ROS Update for the week of 7/20/2020


Neave Engineering



Parody Gadsden flag stolen from Twitter

Maybe we should plan a Short Circuit watch party for the ROS community?

Events

General ROS

Videos / Recorded Talks

Surveys

Note: if you want to run a survey, drop me a line. I can help promote it and even help you analyze the results.

Hardware

For the Little Robots






Fun Robot History Story This Week
image


A fun story this week, a friend sent this Craigslist listing for a “NASA Tank for Sale” to our shared slack group. Which lead another friend to figure out that this thing was part of a Hughes Aircraft Mobot, one of the first commercial mobile robots. One of the two locations where the Mobot was used is in the cleanup of the first US nuclear accidents, the SL-1 reactor, which is a really interesting read (warning: it is fairly morbid). The SL-1 reactor was a prototype Arctic power station went critical while being serviced. There is a great Atomic Energy Commission video on the whole incident on the Internet Archive. The other place the Mobot was used was Jackass Flats, or “Area 25” in Nevada, right next to Yucca Mountain. Anyway, this Mobot is probably still a little bit radioactive so you might not want to buy it.

Got a cool robot history lesson? Feel free to share it below.

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[WWW] https://discourse.ros.org/t/ros-update-for-the-week-of-7-20-2020/15589

ROS Discourse General: New Packages for Kinetic 2020-07-23

We’re happy to announce 8 new packages and 50 updated packages for Kinetic Kame. Details are below.

Thank you to all the contributors and maintainers who helped make these packages available to the community!

Package Updates for kinetic

Added Packages [8]:

Updated Packages [50]:

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:

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[WWW] https://discourse.ros.org/t/new-packages-for-kinetic-2020-07-23/15571

ROS Discourse General: New packages for Foxy Fitzroy 2020-07-23

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

realsense_msgs was removed as the other packages in the repository had not successfully built since their inclusion in Foxy (related GitHub ticket).

Package Updates for foxy

Added Packages [31]:

Updated Packages [40]:

Removed Packages [1]:

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:

2 posts - 1 participant

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[WWW] https://discourse.ros.org/t/new-packages-for-foxy-fitzroy-2020-07-23/15570

ROS Discourse General: Best way to determine if ROS is installed

I’m working on perhaps one of the greater paper cuts in the ROS/Ubuntu ecosystem:

Basically, if you try to upgrade to a new Ubuntu release while also having a ROS release installed, the upgrade can cryptically fail because, of course, ROS doesn’t support that, and the Ubuntu upgrader doesn’t know that ROS doesn’t support that. I’m adding that knowledge to the Ubuntu upgrader so we can halt the upgrade before screwing up anyone’s computer with a partial upgrade, and I could use a quick sanity check (cc @dirk-thomas and @jrivero).

What is the best way to detect if a ROS distro is installed? The most robust way I can think of is to look at individual package names. There are two kinds of packages in the ROS repositories: those that are part of a given ROS distro (e.g. ros_environment and the like) and those that are not (e.g. rosdistro, colcon, etc.). I suspect that, for the most part, the latter group of packages will survive an upgrade without issue. The problematic set is the former, those that are part of a given ROS distro.

In order to avoid hard-coding as much as possible, I think it would be ideal if I could check to see if a specific package is installed, one that everyone who has any component of a ROS distro installed will have. For both ROS 1 and 2, I believe that would be ros_environment, can anyone confirm? Does anyone have any better ideas for how to do this? Does anyone see anything else I might be missing before I continue?

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[WWW] https://discourse.ros.org/t/best-way-to-determine-if-ros-is-installed/15547

ROS Discourse General: New packages and patch release for Dashing Diademata 2020-07-22

The new release of Dashing Diademata is here! This patch release includes a number of fixes and an updated version of CycloneDDS. For the full details see the patch release project board.

Package Updates for dashing

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

Added Packages [16]:

Updated Packages [142]:

Removed Packages [11]:

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:

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[WWW] https://discourse.ros.org/t/new-packages-and-patch-release-for-dashing-diademata-2020-07-22/15541

ROS Discourse General: Help plan improvements for SolidWorks URDF Exporter 2.0! (Survey)

Greetings all,

I’m beginning to plan a new version of the SolidWorks URDF Exporter 2.0 and would love to hear from the community about desired new features and quality improvements that are important to you.

It’s been a bit over a year since I last released the latest patch update for the SolidWorks URDF Exporter and to date there have been over 14,000 downloads! It’s always astonishing to me to hear how many people have found this tool so useful. Thank you all!

This new version would help bring about some frequently requested improvements like ROS 2 support, xacro integration, better mesh refinements, and many more. To that end, I’m distributing a survey to everyone interested in the improvement of this tool. If you have ever used the tool, or have made use of a URDF generated by the tool, or have ever been interested in using the tool I would appreciate your feedback by filling out this survey.

It should take about 10-20 minutes depending on how in-depth you are willing to be.

Thank you all for your on-going support!
Stephen

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[WWW] https://discourse.ros.org/t/help-plan-improvements-for-solidworks-urdf-exporter-2-0-survey/15538

ROS Discourse General: I’ve spent over a hundred hours connecting robots with LTE - Ask Me Anything

Hey there,

My name is Alex Cutting and I’m the Head of Hardware over at Freedom Robotics. I have worked with many different robotics companies deploying robots remotely and I’ve seen lots of common mistakes. Feel free to ask me anything!

I have also put together a blog post to help others avoid many of the mistakes that we have seen. Hoping that this helps save some pain for anyone out there looking to connect their robot with LTE. In the blog you can expect to read things like:

You can check out the blog here. I’m always happy to hear what roboticist are working on nowadays so let me know what project you have active and how you’re connecting it to the internet, if at all! Share your robots and/or questions below!

15 posts - 8 participants

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[WWW] https://discourse.ros.org/t/i-ve-spent-over-a-hundred-hours-connecting-robots-with-lte-ask-me-anything/15519

ROS Discourse General: Rosbag Inspection Survey

Hello all,

We at AWS RoboMaker are interested in feedback from the community on logs and metrics in robotics development to help us learn more about the needs, pain-points and usage seen in this space. We’d greatly appreciate it if you can fill out the survey below.

Click here for the survey

It takes less than 5 minutes to complete, and we will keep the link open for a couple weeks at-least. We will be providing the feedback received back in this thread shortly after closing the survey.

12 posts - 6 participants

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[WWW] https://discourse.ros.org/t/rosbag-inspection-survey/15513

ROS Industrial: Lessons from a ROS2 Collaborative Industrial Scan-N-Plan Application

Contributed by Joseph Schornak, a Research Engineer at Southwest Research Institute's Manufacturing and Robotic Technologies Department


In early 2019 my team at Southwest Research Institute swore a solemn oath: any new robotic systems we develop will use ROS2. ROS Noetic will be the last ROS release, as the community shifts its focus to building and supporting new ROS2 releases. We agreed that it was crucial to commit early and get substantial hands-on experience with ROS2 well in advance of this upcoming transition.

Our first opportunity to apply this philosophy to a system intended for a production environment came in Spring 2019. We began a new project to develop a greenfield collaborative Scan-N-Plan system for an industrial client, which I will refer to here as Project Alpha. Several months ago, we completed and shipped Project Alpha, making it one of the first ROS2 systems to be deployed commercially.

The purpose of this article is to describe some of the discoveries made and lessons learned throughout this project, as we begin to apply this knowledge to the next generation of ROS2 systems.

Why is developing in ROS2 important?

There is a “chicken and egg” problem surrounding developing in ROS2. The most important part of ROS has been the lively and diverse package ecosystem, since the ability to bring in ready-to-ship packages supporting a wide variety of sensors and robots presents a huge advantage for roboticists. While the core rclcpp packages are fully-featured and robust, we need more ROS2 interface packages for sensors and robots commonly used in robotic applications. This gap presents a dilemma: potential users are discouraged from committing to ROS2 due to a lack of support for their hardware, which reduces the incentive for vendors to develop and support new ROS2 packages for their products.

In order to break this cycle, a critical mass of developers needs to commit to ROS2 and help populate the ecosystem. There are certainly benefits for early adopters: Intel’s family of RealSense RGB-D cameras had very early ROS2 support, and as a result, this camera has become a go-to 3D perception solution for ROS2 projects.

Integrating a Robot

We decided to build Project Alpha around the Universal Robots UR10e. Its reach, payload capacity, and collaborative capability satisfied our application-specific requirements. Additionally, we had experience integrating URs with prior projects, and we already had a few on hand in our lab. Fortuitously, the start of the project coincided with the beta release of the excellent Universal_Robots_ROS_Driver package, which has become our driver of choice.

However, there was a substantial immediate challenge: the UR robot driver was a ROS1 package, and we were developing a ROS2 system. There is very little ROS2 driver support for industrial robots, since the process of developing new robot drivers needs significant specialized effort. To address this challenge, we encourage the community to overcome this obstacle and invest the effort to develop new ROS2 drivers for industrial robots.

For the time being, the ros1_bridge package was sufficient to relay joint_state topics and robot control services between the ROS1 and ROS2 networks. We also adapted a custom action bridge node to convey FollowJointTrajectory action goals from our ROS2 motion planning and execution nodes to the ROS1 UR driver node. With these pieces in place, we were ready to plan!

Writing New Nodes

While our robot was ready to move, there was no ROS2-native motion planning pipeline available. At the time, MoveIt2 was still in an alpha state and and was undergoing significant development. To address this gap, we decided to port our Tesseract motion planning library to ROS2. This effort resulted in three repositories: the ROS-independent Tesseract core repository, the ROS1 tesseract_ros repository, and its close ROS2 sibling, tesseract_ros2.

As we worked through the ROS2 port of Tesseract and created new system-specific ROS2 packages for Project Alpha, we found ourselves discovering a new set of best-practice approaches for ROS2. For example, there are two distinct approaches when creating a C++ ROS2 node:

Pass in a Node instance: Create a custom class that takes a generic Node object in its constructor. This is similar to how NodeHandle objects are used in ROS1. These classes are flexible: they can be wrapped in a thin executable as standalone nodes or included as one aspect of a more complex node. The core mechanisms of the class can be exposed both through C++ functions and through ROS2 services.

Extend the Node class: Create a class that inherits from and extends the base ROS2 Node class and add application-specific member variables and functions. I get the impression that this is more in-line with the design intent of ROS2, since key functionality like logging and time measurement is exposed as member functions of the Node class. This approach also exposes new capabilities unique to ROS2, like node lifecycle management. Ultimately, we used both approaches. We found that the first strategy made it easier to directly port ROS nodes, so the nodes in the tesseract_ros2 package use this method. For the newly-developed Project Alpha nodes we used the second strategy, since we had much more freedom to design these new nodes from scratch to make the most of ROS2.

Working with DDS Middleware

The ROS2 DDS communication middleware layer represents a substantial improvement over the TCP/IP-based system used in previous ROS versions. ROS2 ships with a variety of RMW (ROS MiddleWare) implementations provided by several DDS vendors. Fortunately it is very straightforward to switch between the different RMW implementations: all that is required is to install the packages for the new RMW version, set the RMW_IMPLEMENTATION environment variable to specify the desired version, and rebuild any built-from-source packages in your workspace that provide message definitions.

Surprisingly, the choice of which RMW implementation we used had a substantial effect on the performance of Project Alpha, although this did not become clear until relatively late in development.

At the beginning of the project we used FastRTPS, which was the default option for ROS2 Dashing. It worked well for our initial collection of nodes, but when we integrated the ROS driver for the UR10e robot we began experiencing dropped messages and higher latency. Our theory is that the high volume of messages produced by the UR10e's real-time control loop overwhelmed the RMW layer under its default settings. We began exploring alternatives.

Our next option was OpenSplice, which eliminated the issue of dropped messages with the UR10e. However, we discovered several new issues: nodes took several seconds to fully initialize and begin publishing messages, and topics advertised by newly-launched nodes would often not be visible to nodes that were already running. Project Alpha's nodes were designed to all launch together at system startup and stay alive the whole time the system was running, so we were able to work around this issue for some time.

When we updated Project Alpha to use ROS2 Eloquent, we decided to try out the newly-available CycloneDDS RMW implementation. We discovered that it was not susceptible to any of our previous issues: it allowed our nodes to launch quickly on startup, handled high-rate topics as well as large messages like high-resolution point clouds, and could also gracefully manage nodes arbitrarily joining and leaving the network. Project Alpha was shipped to the client configured to use CycloneDDS.

Conclusions

Project Alpha has been a success, and we have been able to leverage our ROS2 development experience to pursue new projects with confidence. We were able to answer some important questions:

Is it better to develop pure-ROS2 systems or hybrid ROS/ROS2 systems? It is preferable to develop and maintain an exclusively ROS2 system. Hybrid systems will be a reality for some time until the development of the ROS2 ecosystem can catch up.

What ROS2 release should be used? We consistently found that there were substantial benefits to using the latest ROS2 release, in the form of new features and functionality.

Is ROS2 "ready for industry?" Resoundingly, yes! Get out there and build ROS2 systems!

[WWW] https://rosindustrial.org/news/2020/7/8/developing-a-ros2-collaborative-industrial-scan-n-plan-application

ROS Discourse General: Participants wanted for a survey on ROS Configuration Issues!

Have you ever spent hours trying to track down the cause of a troublesome bug only to discover that it was caused by a mistake in a configuration file? We want to hear from you! We are a group of software engineering researchers at Carnegie Mellon University looking to understand configuration-related issues in ROS systems.

We are conducting a study to identify issues that ROS users face with respect to their configuration files (e.g., Launch XML and ROSParam YAML), and the steps that those users take to identify, debug, and ultimately fix configuration-related issues. The knowledge from this survey will provide us with insight into the most common and troublesome configuration issues, and will inform the development of automated tools to tackle the problem effectively.

The questionnaire should take five to ten minutes to complete. If you are interested in participating in our study, please follow this link: https://forms.gle/gcSxRHd9AEchfpJd9

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[WWW] https://discourse.ros.org/t/participants-wanted-for-a-survey-on-ros-configuration-issues/15493

ROS Discourse General: First Day Of School/My New Career!

I’ve reduced my hours at work so I have more time to dedicate to learning ROS and developing a few robotics projects which will be open source. Today is my first day of my reduced hours and feels a bit like the first day of school! Cue, photo by the front door in my “uniform”, a Foxy Fitzroy t shirt. :slight_smile:

Two projects may be of interest, my PiWars robot MacFeegle Prime and the controller I made for it. I’ve learned a lot from designing that robot so will be redesigning it from scratch. The controller just needs a few tweaks.

The arms have 7 degrees of freedom each and it’s powered by a StereoPi board. I managed to get basic control working using Melodic but I’ve learned a lot more since then and will be scrapping my old code and starting again.

https://neave.engineering/2020/07/17/big-news-going-pro/

If anyone wants to follow along I have a channel on YouTube where I’ll be posting updates as well as a Patreon page where I’m hoping I’ll be able to get enough pledges to go full time on this. Long shot but nothing ventured, nothing gained!

www.youtube.com/NeaveEngineering

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[WWW] https://discourse.ros.org/t/first-day-of-school-my-new-career/15491

ROS Discourse General: Patent granted for path planning which affects almost every mobile robot application?

We just found out about a patent that was granted in Europe by Omron, which reads like they got a patent granted for general path planning like we know from the navigation stack.
It looks like this could affect pretty much every mobile robot application.

I don’t think this can hold for long but how is this possibe?
Does somebody have more detailed insight on what this could mean for the ROS community and the many applications already using this?

Warning: Omron patent

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[WWW] https://discourse.ros.org/t/patent-granted-for-path-planning-which-affects-almost-every-mobile-robot-application/15487

ROS Discourse General: New Packages for Noetic 2020-07-18

We’re happy to announce 89 new packages and 58 updates are now available in ROS Noetic.

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

Package Updates for ROS Noetic

Added Packages [89]:

Updated Packages [58]:

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:

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[WWW] https://discourse.ros.org/t/new-packages-for-noetic-2020-07-18/15473

ROS Discourse General: ROS 2 TSC Meeting Minutes - 2020-07-16

ROS 2 TSC Meeting Agenda 2020-07-16

Monthly contribution self-reporting

Guidelines

Reports

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[WWW] https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-2020-07-16/15468

ROS Discourse General: ROS NEWS for 7/17/2020

image
DARPA SubT Navigation Tutorial


Amazon Sim Hospital

Hi All,

I’ve been out the last few Fridays, so here is a super massive news update from the past few weeks. If you have something cool you want to share, feel free to drop it in the comments. Enjoy!

EVENTS

PACKAGES and CODE

TUTORIALS / VIDEOS

NEWS

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[WWW] https://discourse.ros.org/t/ros-news-for-7-17-2020/15465

ROS Discourse General: DARPA SVRobo Event Monday

Hi All,

I wanted to relay that the DARPA SubT team has put together an event with SVRobo to discuss upcoming opportunities related to the SubT competition. If you have ever considered participating in the Systems or Virtual track event this is a great chance to find out more information. The event is scheduled for 2020-07-20T19:00:00Z → 2020-07-20T20:00:00Z. Full details can be found in the link below.

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[WWW] https://discourse.ros.org/t/darpa-svrobo-event-monday/15463

ROS Discourse General: ROS Security Benchmark open for public comment

I’m pleased to announce that the Center for Internet Security (CIS) has publicly released the ROS Security Benchmark for community discussion. When published, this benchmark will document community approved best-practice configuration settings to properly secure ROS Melodic running on Ubuntu Bionic. Please consider joining the discussions to help define the right security settings that both protect and enable ROS.

CIS also publishes over 100 security benchmarks, and each benchmark is maintained by an associated community of tech professionals. They’re pretty much the enterprise standard for demonstrating a best-practice security program. The first ROS benchmark under consideration covers Melodic running on Ubuntu Server 18.04. The current draft merely builds upon the existing Ubuntu benchmark (based in turn on the Debian benchmark), and needs to be customized for ROS.

See more about the benchmark at the Ubuntu blog, and consider joining the CIS workbench community to help define the best way to secure ROS. This isn’t just a call for security professionals, it’s a call for all manner of roboticists to help define the industry best security practices!

locked-manipulator-logo-sm

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[WWW] https://discourse.ros.org/t/ros-security-benchmark-open-for-public-comment/15456

ROS Discourse General: AWS Cloud Robotics Summit Aug 18th-19th 2020 - Register now!

Hi ROS community members!
I’m excited to announce that AWS is hosting a Cloud Robotics Summit on August 18th & 19th 2020.
Speakers include @rsbarga, @gerkey, @Katherine_Scott, @Levi-Armstrong, and many others!

Registration is FREE (and you can win a free hoodie)

Details:

image

Register now »

Accelerate your robotics application development and testing

Join technical experts from across the robotics industry for a complimentary educational event. We’ve designed our program to help you learn best practices and the latest technology for robotics application development. Check out our schedule of sessions hosted by AWS Robotics engineers and solutions architects with guest speakers from the Open Robotics, ROS–Industrial Consortium, iRobot, and Labrador Robotics.

Why attend?

Who should attend?

August 18th –19th, 2020 9:00 AM - 2:00 PM PDT

View all sessions »

Featured sessions

Keynote: The role of cloud and open source software in the future of robotics
Speaker: Roger Barga, GM for AWS Robotics; Brian Gerkey, Co-founder of Open Robotics
Learn more »

ROS 2 Foxy: Production Robotics using Open Source software
Speaker: Katherine Scott, Developer Advocate for Open Robotics
Learn more »

Lessons from the front line: How iRobot builds, tests, and manages millions of robots
Speaker: Mark Sedran, Manager of Simulator Software Engineering at iRobot
Learn more »

Simulation tutorial and hands-on workshop: Getting started and advanced automated testing
Speaker: Anabell St. Vincent, Principal Solutions Architect for AWS Robotics.
Learn more»

Register now »

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[WWW] https://discourse.ros.org/t/aws-cloud-robotics-summit-aug-18th-19th-2020-register-now/15444

ROS Discourse General: 📢 https://aka.ms/ros/public - The new Chocolatey feed URL for ROS on Windows

Hi ROS on Windows Developers!

This is an announcement to inform you that now we have an new Chocolatey feed URL: https://aka.ms/ros/public.

If you are an new user, please follow ROS Wiki for the new installation: http://wiki.ros.org/Installation/Windows

If you are an existing user, please reconfigure your Chocolatey sources to get the future package releases.

Here are the simple 3 steps to switch to the new location:

  1. Open a command prompt as administrator.
  2. Run the commands as follow, which will replace your old source with the new one.
set ChocolateyInstall=c:\opt\chocolatey
choco source remove -n=ros-win
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
  1. Check your Chocolatey sources. You should see something as below:
>choco source list
Chocolatey v0.10.15
chocolatey - https://chocolatey.org/api/v2/ | Priority 0|Bypass Proxy - False|Self-Service - False|Admin Only - False.
ros-win - https://aka.ms/ros/public | Priority 1|Bypass Proxy - False|Self-Service - False|Admin Only - False.

That’s it!

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

(If you run into any issues during the migration, please let us know at this ticket.)

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[WWW] https://discourse.ros.org/t/https-aka-ms-ros-public-the-new-chocolatey-feed-url-for-ros-on-windows/15429

ROS Discourse General: SubT Challenge Hello World Post 4: Navigation

SubT Challenge Hello World Post 4: Navigation

Hi All,

It is my pleasure to announce our fourth tutorial in our “Hello World” tutorial series for the DARPA Subterranean Challenge. The previous posts showed you how to configure your virtual robotmap an underground environment, and detect and report artifacts. In our latest post, we build upon these modules to add a local navigation stack for our simulated robot. This tutorial shows in detail how to integrate move_base and the ROS Navigation Stack and how to modify move_base to address the differences between a 2D floor plan and a complex subterranean environment. With the navigation stack in place, you can use RViz to set navigation waypoints to move your robot through the underground worlds. Once you have navigation, you’re well on your way to a working robot solution.

While I have your attention, I would also like to point out a couple recent releases for the SubT Virtual Testbed. You can now build underground worlds and navigate around falling rocks.

DARPA has also released the first tranche of robot models from the Systems Competition. These were recently added to the SubT Tech Repo . The new models are faithful representations of physical robots used by the Systems Competition teams! Some of the models are based on high resolution photogrammetry scans from Urban Circuit, and the models match the robots’ sensor payloads. The current list of Systems Competition robots available in simulation includes:

More Systems Competition robots will be released in the near future along with additional payloads. I am really excited by the release of these models and the blog post, as they represent a fantastic opportunity for the ROS community to build cutting edge software using simulations of some of the most advanced robots available for underground exploration. Whether you are a consummate or novice ROS developer, these tutorials can broaden your skills. Moreover, if you find yourself motivated to push your robot to further explore the cave worlds, you can still sign up to compete in the Cave Circuit event of the DARPA Subterranean Challenge for a number of cash prizes.

Relevant Links

Current Tutorials

Official SubT Challenge Resources

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[WWW] https://discourse.ros.org/t/subt-challenge-hello-world-post-4-navigation/15427


2020-08-01 12:25