Visualizer of delta robots using ROS and EtherCAT

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From Diego Escudero

Last year we started thinking about using ROS as development framework to make our life easy when we develop our own machine controller, the NJ controller that integrates Robotics functions.


During the initial analysis we defined four use cases and decided to implement one of them. The selected one was the visualizer of parallel robots that will be used during the system testing phase of the controller. The work was done by F. Martí during his winter internship at OMRON Industrial Automation.

The NJ controller is programmed using the SYSMAC Studio IDE and controls 64 servo-drives through the EtherCAT field bus. Due to that, the visualizer is installed on a normal computer with an EtherCAT slave card; and it runs on Ubuntu 14.04 LTS and ROS Indigo.

The visualizer is composed by two main parts:

  • The simulator of EtherCAT slaves.
  • The ROS meta-package that visualizes the family of delta robots.


The EtherCAT slave simulator reads the axes commanded positions sent by the controller, forwards them to a ROS node, and closes the loop providing feedback to the controller. After that the ROS meta-package calculates the full positions of the delta robots based on the provided positions and visualizes them using rviz.

In this video below you can see the system working at the Robotics Lab of the Motion Development Team that is placed in Barcelona (Spain).

Visualiser of Delta robots using ROS and EtherCAT from FelipMarti on Vimeo.

ROS-Industrial Training

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from Christina Gomez, via ros-news

Greetings ROS Community,
Southwest Research Institute is coordinating with Caterpillar to host a ROS-Industrial Training Class April 29 - May 2, 2015 in Peoria, Illinois. Wednesday at 1 pm, we begin with a tour of a Caterpillar manufacturing plant, and end with a dinner in downtown Peoria. The detailed agenda can be found at the ROS-I website.

The classroom portion is similar to the training held last year with the same curriculum and an added session and lab option for Descartes. Please bring a laptop to the class with the ROS-I training Virtual Machine pre-installed. This class is geared toward individuals with a programming background who seek to learn to compose their own ROS nodes. 
Day 1 will be split into two tracks: the ROS Basics track will focus on introductory ROS skills; the Advanced track will focus on camera/perception topics. Day 2 will examine motion planning using MoveIt! as well as the Descartes planner and Perception concepts. Day 3 offers a lab programming exercise (with a choice of): 

  • Simple Perception Lab
  • Simple MoveIt! Application
  • Simple Descartes Application.

Registration is now open:


Consulting position at a new venture in Israel

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From Deins Mashkevich

ROS consultant is needed to adapt an existing robot model to run on ROS.
Tasks include developing a full ROS computation graph, and a high-level API that will be usable by a high-level software using ROS services.
This is an unique opportunity to do things your own way, developing all ROS-related functionality from A to Z.

Skills needed:
- Proficiency in C/C++ development
- Proficiency in a Linux environment
- Extensive experience with ROS
- Experience with development for microcontrollers and electrical engineering a plus

This is a time-limited position with option for permanent employment afterwards.
Local candidates preferred, but will consider a remote arrangement.

For more information, contact:

ROS-I 3-yrs. Montage Video

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From Paul Hvass, posted on ROS-Industrial blog

Thanks to those in the ROS-I community who contributed to the ROS-I 3 yrs. Montage video! We would like to ackowledge:

  • Calibration of camera to robot: SwRI
  • Denso VS060 path planning using ROS-Industrial Cartesian Planner: TORK
  • Cartesian Planner plug-in for MoveIt!: BioRobotics Institute at Scuola Superiore Sant'Anna/MicroBio Robotics Institute at the Italian Institute of Technology/SwRI/GSoC
  • Process Simulate to ROS bridge: Siemens
  • Path planner optimization and planning request adapter plug-in for MoveIt!: IDEXX/RIC-Americas
  • Block pick and place: Technolution
  • Palletizing unknown products: Alten Mechatronics
  • Plastic crate depalletizing with lightweight robot: Intermodalics
  • Pick and place with obstacle avoidance: Deere and Co.
  • Factory-in-a-day, EU FP7 Factory of the Future 2013 Programme (FP7-2013-NMP-ICT-FoF)
  • Robotic 3D scanning: Institute Maupertuis
  • ROS-I training class pick and place exercise: RIC-Americas
  • ROS-Industrial Consortium Robotic Routing FTP, Testing at CNRC: RIC-Americas
  • ROS-Industrial Consortium Robotic Blending FTP Milestone 2 Update: RIC-Americas
  • 8-DOF microscope positioning for TEM: Alten Mechatronics
  • Multiscale teleoperation: UT Austin Nuclear and Applied Robotics Group
  • Mobile robotic 3D scanning: UT Austin Nuclear and Applied Robotics Group
  • Rob@Work3 logistics: Fraunhofer IPA
  • Euler automated warehousing: SwRI
  • PRACE dual-arm robot: Fraunhofer IPA
  • YouBots pick and place multiple arm cooperation: NIST
  • Dual arm robot coordinated motion: Fraunhofer IPA/Yaskawa Motoman Robotics
  • BMDA3 dual arm robot: Fraunhofer IPA/Yaskawa Motoman Robotics/SwRI
  • Rangar TT: Blue Force Robotics

SLAM Engineer at PAL Robotics

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From Luca Marchionni via ros-users@


PAL Robotics is a robotics company developing humanoid service robots. Our
goal is to develop humanoids that can perform useful tasks in the real
world. We are a young and multidisciplinary team of highly motivated
engineers, that have successfully developed robots used for research in several universities around the world.


PAL Robotics is looking for a highly motivated research engineer in the area of SLAM and autonomous navigation. 

The selected individual will be responsible for developing, integrating and maintaining the autonomous navigation system 
on Pal Robotics humanoid robots both with wheels and legs. The robots are supposed
to be working in real environments and for this reason safety, robustness,
fault detection and recovery should be taken into account during the
project design and implementation process.
Primary duties:

   - Maintenance of the current PAL Robotics navigation system
   - Long term navigation  
   - Autonomous Localization in crowded environment by using laser, vision,
   wifi sensor fusion
   - People aware Path Planning and Trajectory Execution
   - SLAM extension to Multi-Mapping and Multi-Robot
   - Code QA through Unit Tests

Further duties:

   - Functional testing on simulation environment
   - Stress test in real environments

Mandatory Requirements

   - Master's degree in Computer Science/ Control / AI
   - Good C++ programming skills in Linux OS
   - Knowledge about SLAM algorithms
   - Proactive team working attitude
   - Good communication skills (at least in English)

Desired Requirements

   - Good knowledge of ROS
   - Experience with real robotic hardware
   - Experience with revision control systems (git)
   - Experience installing and configuring Ubuntu or any other Linux
   - Experience with 3D robotics simulation (Gazebo)

Job conditions

   - The team is located in Barcelona, Spain.
   - The salary will be evaluated according to the relevant experience of
   the candidate.

Contact details

If you're interested, please submit your resume to
Please specify the job code JOB-2015-003 and job name in the email subject file.

New book: "ROS Robot Programing" in Korean

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From Yoonseok Pyo via ros-users@

Hello ROS users,

I am pleased to announce a new book "ROS Robot Programing", which will be released by RubyPaper in this month.
It is the first guide book for ROS in Non-English languages.
I hope to bring up new ROS contributors in Korean, even if this book is written in Korean.
Also, I'll donate the whole royalty from this book to OSRF and open-source robotics platform projects( 


The contents of this book is as follows:

1. ROS, Robot Operating System
2. Installing the ROS in Desktop PC
3. Installing the ROS in VirtualBox and SBC like RaspberryPi
4. ROS Term, Communication, File and Build System, Build and Running
5. ROS Commands
6. ROS Tool (RViz, rqt)
7. ROS Basic Programing (Message, Topic, Service, Parameter)
8. Robot and Sensor on ROS
9. How to Use the Sensors on ROS
10. How to Use the Mobile Robot on ROS (Turtlebot)
11. SLAM and Navigation
12. Robot Arm (Dynamixel Servo, MoveIt!)
total pages: 392

More information about this book can be found on ROS wiki page.

Announcing Social Robot Maggie working with ROS

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From Raúl Pérula-Martínez via ros-users@

Hello ROS community,

I have the pleasure to present a new robot in the ROS family. The Social Robot Maggie ( from the RoboticsLab ( at University Carlos III of Madrid, Spain, is working now completely with ROS.

Here the ROS wiki page for more info:

Furthermore, we would love to share what we have developed with the ROS community. We have published several packages in GitHub and soon we show some videos on how it is working.

Here the repository:

Until now, we have released everything developed for the low-level of the robot. These nodes control the devices (motors, touch sensors, labjack controller, IR controller, servomotors, RFID, etc.) of the robot. And almost everything is implemented with unit tests and testing nodes.

We hope that our work could be useful for the community.

Robotics @ Seoul Tech Society

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From Daniel Stonier via ros-users@

For ROS aficionados in South Korea, there is a seoul tech meetup on March 24th with a few roboticists presenting what is the first of hopefully a series of talks. 

Good chance to catch up and talk with some roboticists over a beer after the talks, or meet some of the next generation in seoul's tech community.

You can sign up here.

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