[Documentation] [TitleIndex] [WordIndex] 

Planet ROS

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

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

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:

1 post - 1 participant

Read full topic

[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:

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.

1 post - 1 participant

Read full topic

[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:

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:

1 post - 1 participant

Read full topic

[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)

1 post - 1 participant

Read full topic

[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

1 post - 1 participant

Read full topic

[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]:

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:

1 post - 1 participant

Read full topic

[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:

1 post - 1 participant

Read full topic

[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:

1 post - 1 participant

Read full topic

[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

image
image1351×839 288 KB

Christmas is Cancelled from FZI

image
image739×402 81.1 KB

CoBot Christmas

image
image1024×768 199 KB

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

1 post - 1 participant

Read full topic

[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!

Albertus.jpg
Andrei.jpg
Christoph.jpg
Emcee_Claire.jpg
Erik.jpg
Fengjun.jpg
Grey.jpg
Jack.jpg
Marco.jpg
Matt.jpg
Michael.jpg
Roger.jpg
Tomoya.jpg
Trygve.jpg

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.

2 posts - 2 participants

Read full topic

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

ROS Discourse General: Announcing bi-weekly Eclipse iceoryx developer meetup

Hi all!

I’m happy to announce a bi-weekly meetup for developers working on Eclipse iceoryx. It will start on 2021-01-07T16:00:00Z and happens always on the first and the third Thursday in the month.

The main goals of the meetup are:

Everyone interested is welcome to join. If you have agenda points, I’d kindly ask you to raise them beforehand on the mailing list or via Gitter.im. More info can be found here.

The meetup will happen on Zoom.

Special thanks to Andreas Riexinger and OpenADx for organising the event!

Looking forward to the first meeting!

Hope to see you then,
Simon

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/announcing-bi-weekly-eclipse-iceoryx-developer-meetup/18038

ROS Discourse General: Webots ROS2 Community Meeting

Webots is an open-source, high fidelity, and easy to use robot simulator. At Cyberbotics, we have been developing Webots + ROS2 integration since the Crystal days, and now we want to discuss with you how to further improve it.

Webots
Webots1920×1040 419 KB

Therefore, we would like to organize an online meeting and welcome every ROS2 users and Webots users!

Preliminary meeting agenda:

This is our first time organizing an open meeting with the ROS community. So, we need to know whether you are interested in learning more about ROS2 in Webots and participating to such a discussion.

If enough people are interested we will schedule the meeting in the middle of January.

Let us know if you would be interested to attend: either here, by e-mail to support@cyberbotics.com or in our Discord channels.

-Olivier Michel
Cyberbotics Ltd., CEO

12 posts - 11 participants

Read full topic

[WWW] https://discourse.ros.org/t/webots-ros2-community-meeting/18025

ROS Discourse General: New Packages for Eloquent 2020-12-14

We’re happy to announce 1 new package and 224 updated packages for Eloquent Elusor this week.

This will be the final sync for the Eloquent release

Thank you to all the maintainers and contributors who have helped make these packages possible!

Details are below:

Package Updates for eloquent

Added Packages [1]:

Updated Packages [224]:

Removed Packages [3]:

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:

6 posts - 4 participants

Read full topic

[WWW] https://discourse.ros.org/t/new-packages-for-eloquent-2020-12-14/17907

ROS Discourse General: New Packages for Noetic 2020/12/14

We’re happy to announce 37 new packages and 100 updates are now available in ROS Noetic. This sync was tagged as noetic/2020-12-14 .

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

Package Updates for ROS Noetic

Added Packages [37]:

Updated Packages [100]:

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:

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/new-packages-for-noetic-2020-12-14/17894

ROS Discourse General: Cybersecurity for Robotics Free online conference

Dear All,

Following our start last year in Bilbao, we’re still welcoming you to the up and coming CSfR2020 conference.

Looking forward joining in on two afternoons of great insights on the basics, the future and some hacks and vulnerabilities to keep you mindful about the security of the robots …

Register today for the CyberSecurity for Robotics conference taking place this Thursday and Friday afternoon, December 17th and 18th from 2pm CET, 8am EST.
During two afternoons we’ll be considering
industrial cybersecurity
standardization ,
up and coming approaches for a shared responsibility model,
current challenges in relation to cybersecurity and safety,
and approaches to improve cybersecurity including the ways AI and autonomous systems can be tricked.

Attendance is free, registration is mandatory. Upon registration, you will receive a link to the Zoom webinar for both
December 17th and
December 18th.

Please do also inform your networks, partners and stakeholders.

  1. The Basics : the IEC62443 – industrial cybersecurity vs robots … safety vs security
  2. SROS2 : howto, limitations and future perspectives
  3. Adversarial AI machine learning and behavioral learnings, some experiences from
  4. And … the guy that stole my Tesla … can steal your robot vacuum cleaner :sunglasses: (or basically any robot … )
  5. The future : industrial perspectives, SBOM, future of SROS, ISA99 and ofcourse the impact of AI on the robots.

For more information about the program and registration, please visit : https://cybersecurityforrobotics.com/conference-csfr2020/

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/cybersecurity-for-robotics-free-online-conference/17888

ROS Discourse General: TurtleBot3 and Webots 🐞!

Since the release of ROS2 Foxy, we are determined to deliver new features and bug fixes on each Foxy sync. This time, we released a new package that demonstrates TurtleBot’s (TurtleBot3 Burger from ROBOTIS) mapping and navigation capabilities in Webots.

image
image1395×475 110 KB

Upgrade your Foxy packages, install ros-foxy-webots-ros2 and try it out!

Cartographer Tutorial:
https://github.com/cyberbotics/webots_ros2/wiki/SLAM-with-TurtleBot3

Navigation2 Tutorial:
https://github.com/cyberbotics/webots_ros2/wiki/Navigate-TurtleBot3

We will be happy to hear your suggestions about it.

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/turtlebot3-and-webots/17880

ROS Discourse General: ROS Tutorial 100% en español

Tutorial de ROS 100% en español!!!

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/ros-tutorial-100-en-espanol/17876

ROS Discourse General: New packages and patch release for ROS 2 Foxy Fitzroy 2020-12-11

We’re happy to announce a new Foxy release!

This sync brings a number of new packages as well as updates to ROS 2 core packages. For a list of patches to core packages, see the project board on GitHub.

Package Updates for foxy

Added Packages [28]:

Updated Packages [228]:

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:

Cheers! :fox_face: :turtle:

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/new-packages-and-patch-release-for-ros-2-foxy-fitzroy-2020-12-11/17868

ROS Discourse General: New rosout Log Monitoring Tool, log_viewer

Hi,

I’ve released a new tool, log_viewer, for monitoring and filtering ROS log messages in the terminal without dropping messages. This is very similar
to swri_console, but is terminal based, using ncurses instead of Qt.

log_view
log_view750×432 20.6 KB

Log messages can be filtered based on:

log_viewer also supports text searches and jumping from match to match.

Log messages can be copied to the clipboard by selecting them.

log_viewer doesn’t need roscore to start and will automatically connect/reconnect with roscore when it
becomes available.

There is limited mouse support for selecting log messages and enabling/disabling the log level and node filters.

log_view2
log_view2749×432 18.9 KB

This is currently developed against ROS1, but I plan to support ROS2 in the future.

Marc

3 posts - 2 participants

Read full topic

[WWW] https://discourse.ros.org/t/new-rosout-log-monitoring-tool-log-viewer/17865

ROS Discourse General: ROS Security WG Breakout Meeting | Invited Talk on Privaros

Hello folks,

The next ROS Security Working Group meeting will be: 2020-12-15T14:00:00Z

This’ll be a breakout session where we’ll invite researchers from the CSA department at IISC to present there recent work on Privaros, published this year at CCS '20, with follow up Q&A and discussions:

Rakesh Rajan Beck, Abhishek Vijeev, and Vinod Ganapathy. 2020. Privaros: A Framework for Privacy-Compliant Delivery Drones. In Proceedings of the 2020 ACM SIGSAC Conference on Computer and Communications Security (CCS '20). Association for Computing Machinery, New York, NY, USA, 181–194. DOI: https://doi.org/10.1145/3372297.3417858

We present Privaros, a framework to enforce privacy policies on drones. Privaros is designed for commercial delivery drones, such as the ones that will likely be used by Amazon Prime Air. Such drones visit various host airspaces, each of which may have different privacy requirements. Privaros uses mandatory access control to enforce the policies of these hosts on guest delivery drones. Privaros is tailored for ROS, a middleware popular in many drone platforms. This paper presents the design and implementation of Privaros’s policy-enforcement mechanisms, describes how policies are specified, and shows that policy specification can be integrated with India’s Digital Sky portal. Our evaluation shows that a drone running Privaros can robustly enforce various privacy policies specified by hosts, and that its core mechanisms only marginally increase communication latency and power consumption.

2999×2249 1.62 MB

I’d encourage attendees to review the paper beforehand to foster deeper questions and discussions:

For more info, such as github repos and video demos, please view the web page for the paper here:

For those unable to attend, the session will be recorded and later uploaded, although feel free to post your questions below now, and we’ll do our best to incorporate them during the live event.

Agenda

To be updated

Minutes

As an update, the meeting minutes have been posted and can be reviewed here:

TODO

The video recording the meeting has been uploaded and can be viewed here:

TODO

Also, you can join the group via matrix chat at +rosorg-security:matrix.org and subscribe to future ROS Security WG announcements by changing your default notification level for the wg-security tag, or receive calendar email invites via ros-security-working-group-invites@googlegroups.com.

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/ros-security-wg-breakout-meeting-invited-talk-on-privaros/17848

ROS Industrial: Perception-Based Region Selection for Human to Robot Collaboration

Background

The need for robotic systems that can collaborate with humans on the factory floor is in demand by the manufacturing community, but collaborative robotic solutions are still lacking in many respects. One such problem appears in quality control of subtractive manufacturing applications, such as sanding, grinding, and deburring, where material from a part is removed using an abrasive tool until a desired surface condition is obtained. In such scenario, the quality of the finish can be assessed by an expert human operator and therefore it would be very advantageous to leverage this expertise so as to guide semi-automated robotic systems to work on the regions that need further work until the desired quality is achieved. Given this challenge, this research focused on enhanced human-robot collaboration, by producing a capability that allows a human operator to guide the process by physically drawing a closed selection region on the part itself. This region will then be sensed by a vision system coupled with an algorithmic solution to crop out sections of the nominal process toolpaths that fall outside the confines of this region.

Approach

Initially, a small dataset of hand-drawn closed-region images was produced in order to aid the initial development of the 2D contour detection method and projection into 3D. These images were made with a dark marker on white paper laying on a flat surface and imaged with the Framos d435 camera. The 2D contour method that resulted from this dataset was implemented with the OpenCV open-source library and comprised the following filters/method: grayscaling, thresholding, dilation, canny edge detection and contour finding. The output of this operation was the 2D pixel coordinates of the detected contours (Figures 1.a and 1.b).

Figure 1a. amoeba 2d detection

Figure 1a. amoeba 2d detection

Figure 1B. Box 2D Detection

Figure 1B. Box 2D Detection

The following stage used the 2D pixel coordinates and located the corresponding 3D points from the point cloud associated with the image; this was possible because both the 2D image and point cloud were of the same size. Following that, some additional filters were applied, and adjacent lines were merged in order to form larger segments. In the final steps, the segments were classified as open open and closed contours and then normal vectors were estimated. Results are shown in Figures 2.a and 2.b. Additional datasets were collected with varying conditions such as thicker, thinner lines, curved surfaces and multiple images containing parts of the same closed contour. These datasets allowed refining the method and addressed corner cases that emerged under more challenging conditions such as regions spanning multiple images (Figures 3.a, 3.b, 3.c).

Figure 2a. trianble region detection

Figure 2a. trianble region detection

figure 2b. amoeba region detection

figure 2b. amoeba region detection

Figure 3a. Box Multi-image 2d contour

Figure 3a. Box Multi-image 2d contour

figure 3b. Box multi-image 2d contour

figure 3b. Box multi-image 2d contour

Figure 3c. Box Multi-image region detection

Figure 3c. Box Multi-image region detection

Accomplishments

This research lead to the creation of an open-source C++ library that can be used to detect regions that have a similar need for human-robot collaboration. The repository can be found here https://github.com/swri-robotics/Region-Detection.

Furthermore, the work was featured as part of a recently ARM Insitute Project, with Spirit AeroSystems as prime investigator called Collaborative Robotic Sanding. An excerpt of that demonstration video highlighting the region detecion is included in the excerpt below.

[WWW] https://rosindustrial.org/news/2020/12/10/perception-based-region-selection-for-human-to-robot-collaboration

ROS Discourse General: Ignition/Docker Tips and Tricks from Ignition Community Meeting

Hi All,

We had our third Ignition / Gazebo community meeting yesterday. I thought it was such a great event that I’ve decided to cross post it to ROS Discourse. The general theme for the event was “Docker tips and tricks for Ignition.”

You can watch the full recording on Vimeo.

To make life easier here are all the tools discussed at the event:

I want to do a quick straw poll, if I put together a monthly ROS user meeting would you show up?

Monthly ROS Community Meeting
  • Yes, I would show up to a monthly community meeting.
  • No, I’m not interested.

0 voters

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/ignition-docker-tips-and-tricks-from-ignition-community-meeting/17831

ROS Discourse General: PlotJuggler 3 released

Hi,

I am happy to (finally) announce the release of PlotJuggler 3

Four years ago, I started this pet project with a clear goal in mind: to fill a gap in the ROS tool set, providing a time series visualization tool that could help developers to debug their complex robotic applications.

I wanted to build a powerful and intuitive tool and, with version 3, I think I eventually reached that goal.

PlotJuggler in action
PlotJuggler in action800×570 1.14 MB

If you haven’t, you may have a look at the ROSWorld video that introduces all the new features of PJ3 in just 2 minutes:

Many thanks to the people and companies that have beta-tested version 3 and to all the users that have shared their support and encouragement.

Cheers

Davide

4 posts - 2 participants

Read full topic

[WWW] https://discourse.ros.org/t/plotjuggler-3-released/17820

ROS Discourse General: Vision AI Standard Interfaces

Hi all, friendly neighborhood navigator here.

I wanted to bring up the migration of vision_msgs so graciously donated by @Kukanani (https://github.com/Kukanani) from his personal GitHub to ros-perception to aid in our use of vision_msgs as the standardized AI Detection and Classification interfaces in both 2D and 3D.

vision_msgs have been used for some time in various projects but until now it wasn’t “official” and not broadly adopted (projects define their own sets of messages to translate the same sets of information). The aim of bringing vision_msgs into the ROS organization is to standardize around this package so that all future AI packages can be easily swapped out (as is enabled by sensor_msgs, geometry_msgs, etc.).

If you have a vested interest in AI detection / classification interfaces, please check out the link below and lets chat if there’s any changes we think are appropriate to adopt these at a community level.

It’s a great pleasure to be able to pull in some more wonderful work from the community. I want to again thank @Kukanani for his great work on this package and willingness to work with us to create this community standard.

If you have some wonderful work you’d like pulled into main ROS, feel free to drop me a PM.

Happy detecting,

Steve

1 post - 1 participant

Read full topic

[WWW] https://discourse.ros.org/t/vision-ai-standard-interfaces/17806

2021-01-02 12:27