ARDrone autonomous indoor navigation by 3D slam

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From Jim Lin

Hello, everyone

I just want to demonstrate our lab's recent result (also my bachelor thesis). 
It combined several ROS packages, for example, "ardrone_autonomy", "tum_ardrone", "MoveIt" and "tum-vision/lsd_slam" to make ARDrone 2.0 automatically explore unknown area and avoid obstacle by using OctoMap created from lsd_slam.

We used some matrix operation to re-scale the lsd_slam to real world scale. 
The purpose of the project is to emphasize the whole motion can be achieved by low-cost vehicle with monocular camera.

The experiment video is as follows.

Springer Book on ROS: Call for Chapters

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From Anis Koubaa of Springer Publishing via ros-users@


With respect to our last interaction about editing a complete reference book on ROS, I am happy to inform that the official call for chapters for the Springer Book on Robot Operating Systems is now open. 

The book will be published by Springer under the book series "Studies in Systems, Decision and Control". 

We look forward to receiving your contributions to make this book successful and useful for ROS community. The call for chapters website (see above) presents in details the scope of the book, the different categories of chapters, topics of interest, and submission procedure. 
In a nutshell, abstracts must be submitted by January 05, 2015 to register the chapters and to identify in advance any possible similarities of chapter contents. Full chapters submission is due on March 01, 2015.
Submissions and the review process will be handle through EasyChair

Each chapter will be reviewed by at least three expert reviewers, one at least should be a ROS user and/or developer. 
We look for the collaboration of ROS community users to provide reviews and feedback about proposals and chapters to be submitted for the book. If you are interested to participate in the review process, please consider filling in the following reviewer interest form

We look forward to receiving your contribution for a successful ROS reference!

Just to emphasise that submission of full chapters is on March 01 and that abstract are on January 05
If some authors would like to submit more than one chapter and would like to have an extension, please let me know in advance.

Robox and IT+Robotics are excited to announce the first fully ROS-compliant Robox motion controller, the uRmc2, and the cROS library.

The uRmc2 is one of the Robox's push product, and it has been designed to best exploiting the distributed electronics such as drivers and remote I/O. This motion controller can be employed in many motion control application, from the simplest ones (one or two controlled axes), to the most sophisticated ones (dozens of controlled axes) and even in presence of a high number of axes it can ensure a data exchange rate of 500Hz (2ms).

In collaboration with Robox, IT+Robotics realized cROS, a lightweight, single thread, full ANSI C ROS client library, that enables C programmers to quickly interface with ROS Topics, Services, and Parameters.
cROS has been developed with robustness and efficiency in mind, ant it has been designed to address any embedded system that is provided with a basic C compiler and, being single thread, it is well suited also for systems that comes without any operative system. IT+Robotics plans to make available an open source version of the cROS library in Q1 2015.

The Robox controller enhanced with the cROS library system offers the following features:

  • Topic subscriber and publisher capabilities
  • Services provider capabilities
  • Implement the whole Master, Slave and Parameters Server ROS APIs (missing only some minor functions)
  • Management and development of the logging features exposed by the ROS tools
  • Management almost any type of ROS messages, included a complete support to the ROS industrial messages

The last feature means that the system can communicate with any other ROS nodes without the message packages installed.
The messages are generated at runtime: only the *.msg and/or *.srv files are required.

The enhanced Robox controller has been used for the first time in an industrial project where a team of robot manipulators were managing metal parts to be weld.

Here the contacts:

- uRmc2 ROS compliant motion controllers:
- cROS library:

Edmonton Users Group

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From Craig Sherstan via ros-users@

I'd like to announce a new ROS Users Group in Edmonton, Alberta, Canada

Our focus is on teaching and exchanging knowledge. We're open to academics, industry and hobbyists. If you're in the area sign up for our mailing list on

Our first meetup is Jan. 15, 2015 at 6:30 PM at Startup Edmonton (

New SIG: Perception

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From Vincent Rabaud via ros-users@

Hi all,

as discussed with some of you at ROSCon, there is an interest for a vision SIG.

There are also quite a few packages dealing with audio (speech to text, text to speech, source separation ...) and there is definitely interest for touch, heat, emotion recognition ...

That's why we've renamed the old SIG for perception pipelines (that never got any post at!forum/ros-sig-perpip) to!forum/ros-sig-perception.

It is now a SIG where people can discuss about anything a robot can sense and its interpretation. Enjoy !

From Pouyan Ziafati via ros-users@

Dear All,

I am happy to announce  the release of the retalis package for ROS. The Retalis language  supports a high-level and an efficient implementation of a large variety of robotic sensory data processing and management functionalists. 

Please see the description, tutorial and performance evaluation at

Best regards,
from Ryan Gariepy via ros-users@

Clearpath Robotics Inc. specializes in the design and manufacture of
unmanned vehicle solutions for everyone from small local businesses to
some of the best known companies on the planet. We began by offering
platforms and services to support robotics R&D, and have now expanded
beyond the world of R&D into commercial and industrial unmanned

We employ a multidisciplinary group of highly talented people who live
and breathe robotics.  We believe that work must have a high "cool"
factor and every day should bring new knowledge. We need more people
on our team who are willing and able to bring the state of the art to
practical applications. Clearpath, our partner companies, and our
clients are making tremendous advances in automating the world, and we
want you to be a part of it!

All positions are located in Kitchener-Waterloo, Ontario, Canada. 1-5
years relevant work experience and a related graduate degree are
recommended, but exceptions can be made. Due to the volume of
applicants we receive, providing reference letters and portfolio work
with your application is *highly* recommended.

Individual job details, requirements, and application instructions can
be found at the following links:

Perception/SLAM (
Controls/Planning (
Multi-Robot Systems (

Updated package: razor_imu_9dof

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From Kristof Robot via ros-users: 

I am happy to announce Hydro and Indigo versions of razor_imu_9dof, a
package that provides a ROS driver for the Sparkfun Razor IMU 9DOF
It allows assembling a low cost Attitude and Heading Reference System
(AHRS) which publishes ROS Imu messages for consumption by packages
like robot_pose_ekf.

Major updates (see Changelog [1] for details):
- catkinized
- upgraded to be fully compatible the ROS navigation stack (and in
particular robot_pose_ekf)
- major upgrade of the wiki documentation (

Video demonstrating the use of razor_imu_9dof with robot_pose_ekf to
improve odometry -  .

For more information, and detailed instructions, see

I'd like to thank Tang Tiong Yew for the good work on the previous
Fuerte and Groovy versions, and Peter Bartz for the excellent
Last but not least, a big thanks to Paul Bouchier, who triggered this
upgrade, and was a major contributor overall.


Kristof Robot


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