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Celebrating 9 Years of ROS!

This year marks the occasion of ROS turning 9 years old! Through these years ROS has grown into a strong world-wide community. It's a community with a large variety of interests: from academic researchers to robotic product developers as well as the many robot users. Academic use of ROS continues to grow. Citations of the first ROS paper "ROS: An Open-Source Robot Operating System" has grown to 2,871.

To get a better sense of what's happening in the ROS community, if you have not already done so, I highly recommend reviewing the ROSCon 2016 program. You can also find all the video recordings in this gallery. ROSCon 2016 was another great event bringing ROS community members together to share how they're using ROS to solve their challenges. As the goal of ROSCon is to share information between the entire community we record the talks and make them available online. We've sold out our venues the last two years and are looking forward to another ROSCon next fall!


Part of understanding our growing community is to try to measure it. For the last 6 years we've been generating metrics reports. These reports can give a sense of aggregate what's happening in the ROS community. Our most recent report is from July 2016. David Lu has put together plots of several of the metrics across the last 6 years which can be quite informative.

This year we wanted to dig a little deeper into the code metrics, so we downloaded the source of all of packages listed in the Indigo Igloo rosdistro and ran some analysis.

  • The total line count is over 14 million lines of code
  • There have been 2477 authors
  • And 181509 commits
  • Averaging 73.3 commits per author

You can see the commits as a function of month in this graph.


Our committers are active around the world as evidenced by the commits coming in at all hours of the day.


And the git commits record 24 different time zones (out of 39 possible).

Analyzing the repository for significant lines of code using SLOCCount shows:

  • 4,077,199 significant lines of code.
  • This represents an estimated 1,236 person-years of development.
  • For a sense of scale, that is an average of 137 developers contributing full time over the last 9 years!

For those of you curious about the breakdown by language lines of code, it is as follows:

  • cpp: 2608592 (63.98%)
  • python: 553332 (13.57%)
  • ansic: 297629 (7.30%)
  • xml: 280615 (6.88%)
  • lisp: 149439 (3.67%)
  • java: 135343 (3.32%)
  • ruby: 26484 (0.65%)
  • sh: 21120 (0.52%)

This only represents the packages publicly released into the Indigo rosdistro index.

Note that the tools only worked on Git repos so code from other source control systems was excluded. There are also a few projects which predate ROS but have ported to use ROS and their history is included.

We're looking forward to continuing growth through 2017 leading up to the 10-year anniversary of ROS. With the Beta 1 version of ROS 2.0 out, there will be space for new development. We're looking forward to our next release, Lunar Loggerhead, to coincide with Ubuntu's next release, Zesty Zapus. With both of these, the ROS community can continue to rely on the many libraries, tools, and capabilities they have come to know and enjoy, as well as begin to experiment with the new features in ROS 2.0

Another exciting project to watch is the upcoming TurtleBot 3! The TurtleBot and TurtleBot 2 have been great platforms for learning and prototyping. However by packing that same capability into a smaller platform with more punch we look forward to it providing another avenue to grow the ROS community.

We write these anniversary posts to help give you a sense of how ROS has been doing over the past year, but we'd certainly encourage you to find out for yourself. Get involved. Write or edit a wiki page. Answer a question on ROS Answers. Come to ROSCon. And, when you're ready, think about helping to maintain ROS itself, or even contributing a brand new ROS package.

OSRF is doing great, but the long-term success of ROS depends on every member of the incredibly awesome ROS community. If you're already an active part of the ROS community, we can't thank you enough; and if you're not, think about how you can help ROS grow and thrive for the next nine years, and beyond.

Towards ROS-native drones

From Medium:

Announcing alpha support for the PX4 flight stack in a path towards drones that speak ROS natively

The drones field is an interesting one to analyze from a robotics perspective. While capable flying robots are reasonably new, RC-hobbyists have been around for a much longer time building flying machines developing communities around the so called flight stacks or software autopilots.

Among these, there're popular options such as the Paparazzi, the APM (commonly known as ardupilot) or the PX4. These autopilots matured to the point of acquiring autonomous capabilities and turning these flying machines into actual drones. Many of these open source flight stacks provide a general codebase for building basic drone behaviors however modifications are generally needed when one has the intention of tackling traditional problems in robotics such as navigation, mapping, obstacle avoidance and so on. These modifications are not straightforward when performed directly in the autopilot code thereby, in an attempt to enhance (or sometimes just simplify) the capabilities of autopilots, abstraction layers such as DroneKit started appearing.

For a roboticist however, the common language is the Robot Operating System (ROS). Getting ROS to talk to these flight stacks natively would require a decent amount of resources and effort thereby, generally, roboticists use a bridge such as the mavros ROS package to talk to the flight stacks.

We at Erle Robotics have been offering services with flying robots using such architecture but we've always wondered what would be the path towards a ROS-native drone. In order to explore this possibility we've added support for the PX4 Pro flight stack. 

Supporting the PX4 Pro flight stack

The PX4 Pro drone autopilot is an open source (BSD) flight control solution for drones that can "fly anything from a racing to a cargo drone?--?be it a multi copter, plane or VTOL". PX4 has been built with a philosophy similar to ROS, composed by different software blocks where each one of these modules communicates using a publish/subscribe architecture (currently, a simplified pub/sub middleware called uORB).

In an internal attempt to research the path of getting ROS-native flight stacks and to open up this work to the community I'm happy to announce official alpha support for the PX4 Pro in all our products meant for developers such as the PXFmini, Erle-Brain 2 or Erle-Copter. Our team has put together a new set of Operating System images for our products that will help you switch between flight stacks easily.

To install PX4 Pro, just type the following:

sudo apt-get purge -y apm-* # e.g.: apm-copter-erlebrain 
sudo apt-get update 
sudo apt-get install px4-erle-robotics

ROS-native flight stacks 

Using the PX4 Pro flight stack as a starting point, our team will be dedicating resources to prototype the concept of a drone autopilot that speaks ROS natively, that is, that uses ROS nodes to abstract each submodule within the autopilot's logic (attitude estimator, position control, navigator, ...) and ROS topics/services to communicate with the rest of the blocks within the autopilot. Ultimately, this initiative should deliver a software autopilot capable of creating a variety of drones that merges nicely with all the traditional ROS interfaces that roboticists have been building for over a decade now. 

If you're interested in participating with this initiative, reach us out at

Originally published in Medium:


I'm delighted to announce a new game-changing standard for building robot components, H-ROS: the Hardware Robot Operating System. H-ROS provides manufacturers tools for building interoperable robot components that can easily be exchanged or replaced between robots.

H-ROS is about supporting a common environment of robot hardware components, where manufacturers comply with standard interfaces built upon ROS.

Powered by the popular Robot Operating System (ROS) and built with industry and developers in mind, H-ROS classifies robot components in 5 types: sensing?--?used to perceive the world, actuation?--?allow interaction with the environment, communication?--?provide a means of interconnection, cognition?--?the brain of the robot and hybrid?--?components that group together different sub-components under a common interface. This building-block-style parts come as reusable and reconfigurable components allowing developers, to easily upgrade their robots with hardware from different manufacturers and add new features in seconds.

Motivation and origin

Building a robot is accepted as a harsh task thereby it makes sense to reuse previous work to reduce this complexity. Unfortunately, nowadays there are little efforts that reuse hardware in both academy and industry. Robots are generally built by multidisciplinary teams (generally a whole research group or a company division) where different engineers get involved in the mechanical, electrical and logical design. Most of the time is spent dealing with the hardware/software interfaces and little is put into behavior development or real-world scenarios. Existing hardware platforms, although starting to become more common, lack extensibility.

Examples can be seen in several commercial and industrial robots that hit the market recently and already include a common software infrastructure (generally the Robot Operating System(ROS)) but lack of a hardware standard.

With H-ROS, building robots will be about placing H-ROS-compatible hardware components together to build new robot configurations. Constructing robots won't be restricted to a few with high technical skills but it will be extended to a great majority with a general understanding of the sensing and actuation needed in a particular scenario.

H-ROS was initially funded by the US Defense Advanced Research Projects Agency (DARPA) through the Robotics Fast Track program in 2016. It is now available for selected industry partners and will soon be released for the wider robotics community. Additional information can be requested through its official web page at H-ROS was first unveiled and showcased at ROSCon 2016 (October 8th-9th) in Seoul, South Korea.

ROSCon 2016 Diversity Scholarships

The ROSCon 2016 organizing committee aims for ROSCon to represent the entire ROS community, which is diverse and global. In addition to promoting technology that is open source, we also strive to ensure that our communities themselves are as open and accessible as possible, since we recognize that diversity benefits the ROS ecosystem as a whole.

Whoever you are, whatever you do, and wherever you do it, if you're interested in ROS, then we want you to join us at ROSCon. To help reduce the financial barriers to conference attendance, the ROSCon organizing committee is offering a number of scholarships to members of traditionally underrepresented groups in the tech community. These scholarships will include a complimentary conference registration pass and two nights' twin-share* accommodation. Please note that all other expenses (including travel and any visa requirements) will be the responsibility of the participant.

*To maximize the impact of the scholarship funds, scholarship recipients will be asked to share a room with another recipient.


We invite applications from members of groups that have been traditionally underrepresented in the tech community (including but not limited to: women, LGBTQ+, people of color, people with disabilities, and people from ethnic minorities in their country of residence), who may not otherwise be able to attend ROSCon.

How to apply

To apply, please fill out this form by the 14th of August, describing how you are involved with ROS and the robotics community and what you hope to get out of attending ROSCon 2016. Scholarships will be awarded based on a combination of need and impact. Every applicant will be notified of the outcome of their application by the 20th of August.

For more information about ROSCon 2016, including the program, code of conduct, and childcare options, please see

ROS Kinetic Kame Released

Happy World Turtle Day!

I am pleased to announce that the 10th ROS distribution, Kinetic Kame, is now available on Ubuntu Xenial 16.04, Ubuntu Wily 15.10, and Debian Jessie. Packages for 32-bit ARM (armhf) are available on Xenial, and 64-bit ARM (aarch64) is supported on Debian Jessie.


To install ROS Kinetic, refer to the Installation page on the Wiki:
Check out the Migration guide for a changelog of new features and API changes:

524 packages in the ROS ecosystem are in the initial release of Kinetic, compared to 2149 currently in Indigo and 1016 in Jade. You can see the released packages on the status page for Kinetic:

And you can compare the versions of packages in Indigo, Jade, and Kinetic here (thanks William for making changes to the new compare pages):

If there's a package missing in Kinetic that you'd like to see released, contact the maintainers to let them know. Even though we've made the initial Kinetic release, it's never too late to add packages to Kinetic (or Jade or Indigo) for upcoming syncs.

Kinetic T-shirts (and hoodies) should come through in the mail this week.

We'd also like to announce the name of the next ROS distribution, which you can look forward to downloading a year from now: Lunar Loggerhead!

Thank you to all of the maintainers and contributors who helped make this release possible. We couldn't do this without you.

- Jackie and the ROS Team


ROS Kinetic Kame Tshirt and Logo Announced

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With each release of ROS we have a tradition of having a logo and making t-shirts. ROS Kinetic Kame is coming out in May. Show your ROS colors and support this tradition!  Visit the Teespring Campaign page here to order your shirt. 

Proceeds from shirt sales go to supporting the costs associated with developing and maintaining ROS, including hosting the wiki and running the build farm. 

There are both mens and womens sizes as well as hoodies, v-necks and triblends available. 

Order now and if this campaign is funded we expect the shirts to arrive approximately when ROS Kinetic Kame is released. The campaign closes on May 9th don't wait too long to order. 

Here's a high resolution version of the Kinetic logo. 


Note that we have two providers one in the US and one in Europe. The main link: redirects based on your IP address. If you want to access the individual pages you can visit: and directly. 

ROS 2 alpha3 (Cement)

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We're happy to announce the release of ROS 2 alpha3, code-named Cement!

Installation instructions and tutorials designed to exercise new
features in ROS 2 are in the wiki:

To get an idea of what's in (and what's not in) this release, be sure
to read the overview page:

From that page, an important caveat that will persist for the next few
alpha releases:
As the "alpha" qualifier suggests, this release of ROS 2 is far from
complete. You should not expect to switch from ROS 1 to ROS 2, nor
should you expect to build a new robot control system with ROS 2.
Rather, you should expect to try out some demos, explore the code, and
perhaps write your own demos.

We're now on a ~6-week cadence for alpha releases.  We're continually
updating the roadmap to forecast what will be included in each alpha

As always, we invite you to try out the new software, give feedback,
report bugs, and suggest features (and contribute code!):

ROS Turns 8

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Thumbnail image for ROS 8 Years.png
Eight years ago, Morgan Quigley, Eric Berger and Andrew Ng published a paper that was not about ROS. It was about STAIR, the STanford Artificial Intelligence Robot, which used a library called Switchyard to pass messages between software modules to perform complex manipulation tasks like stapler grasping. Switchyard was a purpose-built framework that was designed to be modular and robot-independent, and it was such a good idea that in 2009, "ROS: An Open-Source Robot Operating System" was presented at the IEEE International Conference on Robotics and Automation (ICRA) in Japan. As of this month, the paper introducing ROS has been cited 2,020 times, an increase of more than 50% over last year.

The popularity of one single paper is only a minor indicator of the popularity of the robot operating system that it introduced. At eight years old, ROS is growing faster than ever, and helping the robotics community to grow along with it. We're especially excited to see how brand new startups have been taking advantage of the open source nature of ROS to help them develop useful, reliable robots that are creating entirely new markets. In 2015 alone, more than $150 million in VC funding (that we know of) was invested in businesses that utilize ROS.

Large, established companies have been taking more and more notice of ROS as well. At ROSCon this year, Fetch Robotics was joined as a platinum sponsor by Ubuntu, and a record number of gold sponsors included NVIDIA, Bosch, and Qualcomm and attendees from companies such as BMW, DJI, Intel and more. ROSCon 2015 was by far the largest conference we've ever had: it sold out weeks in advance.  Clearly next year we're going to have to find a much bigger venue to make room for more attendees, more speakers, and more exhibitors.

Taking a look at how much our community has grown this year, it's easy to see why ROSCon has become so popular: it's a reflection of the enthusiasm and engagement of the ROS user base. In May 2015 alone, nearly nine million ROS packages were downloaded from over 70,000 unique IP addresses, and these numbers don't even count mirrors. This suggests that ROS probably has hundreds of thousands of active users. We also have a very robust developer community: 1,840 people have contributed to ROS' 10 million lines of code, averaging 20 commits per day. The ROS wiki has gotten 10% bigger since last year, and there are over 11,000 users on ROS Answers, a 32% increase over last year, with a total of more than 5,000 questions answered. It's numbers like these that make us so confident in the long term future of ROS.

Counting ROS
Because of the nature of the ROS license, we actually don't know how many users, robots, and developers there are utilizing ROS.  Many of the numbers that we are citing throughout are likely to be much larger.  For example, we specifically know of approximately 80 types of robots using ROS, but almost every day we hear about new ones.  And not every company using ROS discloses so publicly, so our estimates on venture capital investment can be better characterized as lower bounds than estimates.

If you're not part of the ROS community yet, there's never been a better time to get involved. Even if you don't have experience with robots or programming, there's a wide variety of low-cost robots and helpful online tutorials that can get you started, and we're also delighted to announce (just in time for the holidays!) that O'Reilly Media has published "Programming Robots with ROS: A Practical Introduction to the Robot Operating System," by Morgan Quigley, Brian Gerkey, and Bill Smart, which will take you from zero to ROS expert in just 448 pages.

Learning ROS will allow you to do all kinds of cool stuff with more than 80 robotic platforms. You can choose from the capable, affordable TurtleBot, one of the many sophisticated humanoid robots that competed in the DARPA Robotics Challenge, or even NASA's Robonaut, currently undergoing testing on the International Space Station. Robots powered by ROS are everywhere, and here are just a few of them:

For full frame clips see the long version of the montage. 

Of course, we have no idea how many robots are actually running ROS, or how many people or companies are using it, because ROS is open source and completely free. We're often surprised to learn that cutting edge robots that we're already familiar with are powered by ROS, as when BMW announced at ROSCon that they've been using ROS in their autonomous cars for the past few years. We weren't at all surprised to hear why BMW chose ROS for its autonomous driving research, though: they appreciate its popularity, its stability and reliability based on a large user base, the fact that it makes it easy to collaborate, and its open source nature. 

As the ROS community has grown, various special interest groups have organized to promote ROS for specific application domains. The ROS Industrial Consortium is one such group.  ROS-I is a software library that builds on ROS and leverages its power and flexibility to control manufacturing automation equipment including industrial robot arms. It is supported by the 36-member organizations comprised of companies such as 3M, ABB, BMW, Ford, Boeing, Siemens and more.  Representatives from Boeing, Caterpillar, Yaskawa and more speak on behalf of ROS and ROS-I in this video.

2016 is poised to be the biggest year ever for ROS, and we'd like to highlight two things that are worth getting particularly excited about. The first is ROS 2.0, which we've been developing for the past few years. ROS 2 will support the growth of the ROS community by making it much easier to work with small embedded systems, teams of multiple robots, and robots that require real-time control. We'd also like to make sure you're familiar with Robotics Fast Track (RFT), which is  a program that we're working on with DARPA. It's an easy way for you to get government funding for your awesome robotics ideas without having to give up any of your IP, and absolutely anyone can apply. 

We write these anniversary posts to help give you a sense of how ROS has a whole has been doing over the past year, but we'd certainly encourage you to find out for yourself, by getting involved. Write or edit a Wiki page. Answer a question on ROS Answers. Come to ROSCon. And, when you're ready, think about helping to maintain ROS itself, or even contributing a brand new ROS package. OSRF is doing great, but the long-term success of ROS depends on all of the incredibly awesome ROS users themselves. If you're already an active part of the ROS community, we can't thank you enough, and if you're not, think about it: you can help ROS grow and thrive for eight more years, and beyond.

ROS 2 alpha2 (Baling Wire)

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We're happy to announce the release of ROS 2 alpha2, code-named Baling Wire!

Installation instructions and tutorials designed to exercise new
features in ROS 2 are in the wiki:

To get an idea of what's in (and what's not in) this release, be sure
to read the overview page:

From that page, an important caveat that will persist for the next few
alpha releases:
As the "alpha" qualifier suggests, this release of ROS 2 is far from
complete. You should not expect to switch from ROS 1 to ROS 2, nor
should you expect to build a new robot control system with ROS 2.
Rather, you should expect to try out some demos, explore the code, and
perhaps write your own demos.

We're now on a ~6-week cadence for alpha releases.  We're continually
updating the roadmap to forecast what will be included in each alpha

As always, we invite you to try out the new software, give feedback,
report bugs, and suggest features (and contribute code!):

2015 Metrics Report Available

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You can now download our 2015 ROS Metrics report from: 

It's the 5th edition of the report. Links to all of them can be found at:

One metric which stood out to me how strong the adoption of Indigo has been. Over half our users are now using the LTS release. 

And all of these numbers do not count the any statistics for mirrors either private or public of which we've seen an increase in availability.

Demonstrating the challenge of understanding metrics, the downward change in download volume reflects the more stable core packages. During the sample period there were fewer core releases. Including no catkin, ros, or ros_comm releases in July 2015 versus one or more of each of those in July 2014.

ROS Hydromedusa Final Release

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Hi Everyone, 

We again have reached another milestone which is the End of Life ROS Hydromedusa. We have reached the final release with 223 updated packages and 15 new packages. Full details are below. 

Hydro has had a long history over 877 days with commits on 743 of those days. We had 241 individual contributors submitting 4879 commits which is an average of 5.4 commits per day. There were 1690 packages released and built into debian packages in the hydro rosdistro as well as uncounted packages maintained outside the public release pipeline.

Here's a visualization of the public rosdistro releases for Hydro over the course of it's development cycle:

As we've reached EOL we will begin the process of tearing down the Hydro buildfarm. 

Please take a moment and thank anyone you know who has released packages into Hydro. The thousands of releases into the rosdistro are what drives our community and helps create value for everyone.

You ROS Release Team

Updates to hydro

Added Packages [15]:
 * ros-hydro-cob-scan-unifier: 0.5.3-0
 * ros-hydro-eusurdf: 0.1.13-0
 * ros-hydro-ir-trans-drivers: 0.0.4-0
 * ros-hydro-jsk-201504-miraikan: 0.0.11-0
 * ros-hydro-jsk-3rdparty: 2.0.8-0
 * ros-hydro-jsk-common-msgs: 2.0.0-1
 * ros-hydro-jsk-recognition-utils: 0.3.6-0
 * ros-hydro-jsk-robot-utils: 0.0.11-0
 * ros-hydro-libcmt: 2.0.8-0
 * ros-hydro-roseus-mongo: 1.3.9-0
 * ros-hydro-roseus-remote: 0.0.11-0
 * ros-hydro-rosjava: 0.1.1-0
 * ros-hydro-rosjava-core: 0.1.6-0
 * ros-hydro-rosjava-extras: 0.1.5-0
 * ros-hydro-rosjava-messages: 0.1.345-0

Updated Packages [223]:
 * ros-hydro-ackermann-msgs: 0.9.1-0 -> 1.0.0-0
 * ros-hydro-app-manager: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-assimp-devel: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-baxtereus: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-bayesian-belief-networks: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-catkinize-this: 0.2.3-0 -> 0.2.4-0
 * ros-hydro-checkerboard-detector: 0.2.12-0 -> 0.3.6-0
 * ros-hydro-cob-linear-nav: 0.5.1-2 -> 0.5.3-0
 * ros-hydro-cob-mapping-slam: 0.5.1-2 -> 0.5.3-0
 * ros-hydro-cob-navigation: 0.5.1-2 -> 0.5.3-0
 * ros-hydro-cob-navigation-config: 0.5.1-2 -> 0.5.3-0
 * ros-hydro-cob-navigation-global: 0.5.1-2 -> 0.5.3-0
 * ros-hydro-cob-navigation-local: 0.5.1-2 -> 0.5.3-0
 * ros-hydro-cob-navigation-slam: 0.5.1-2 -> 0.5.3-0
 * ros-hydro-collada-urdf-jsk-patch: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-depthcloud-encoder: 0.0.4-0 -> 0.0.5-0
 * ros-hydro-diagnostic-aggregator: 1.8.7-0 -> 1.8.8-0
 * ros-hydro-diagnostic-analysis: 1.8.7-0 -> 1.8.8-0
 * ros-hydro-diagnostic-common-diagnostics: 1.8.7-0 -> 1.8.8-0
 * ros-hydro-diagnostic-updater: 1.8.7-0 -> 1.8.8-0
 * ros-hydro-diagnostics: 1.8.7-0 -> 1.8.8-0
 * ros-hydro-downward: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-dynamic-tf-publisher: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-easy-markers: 0.2.3-0 -> 0.2.4-0
 * ros-hydro-ethercat-hardware: 1.8.11-0 -> 1.8.15-0
 * ros-hydro-eus-assimp: 0.1.12-0 -> 0.1.13-0
 * ros-hydro-eus-nlopt: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-eus-qp: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-eus-qpoases: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-euscollada: 0.1.12-0 -> 0.1.13-0
 * ros-hydro-eusgazebo: 0.1.8-0 -> 0.1.9-0
 * ros-hydro-euslisp: 9.12.2-0 -> 9.15.1-0
 * ros-hydro-ff: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-ffha: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-fingertip-pressure: 1.8.11-0 -> 1.8.15-0
 * ros-hydro-geneus: 2.2.2-0 -> 2.2.4-0
 * ros-hydro-hironx-calibration: 1.0.31-0 -> 1.0.37-0
 * ros-hydro-hironx-moveit-config: 1.0.31-0 -> 1.0.37-0
 * ros-hydro-hironx-ros-bridge: 1.0.31-0 -> 1.0.37-0
 * ros-hydro-hrpsys: 315.4.0-0 -> 315.7.0-2
 * ros-hydro-hrpsys-gazebo-general: 0.1.8-0 -> 0.1.9-0
 * ros-hydro-hrpsys-gazebo-msgs: 0.1.8-0 -> 0.1.9-0
 * ros-hydro-hrpsys-ros-bridge: 1.2.12-0 -> 1.2.14-0
 * ros-hydro-hrpsys-tools: 1.2.12-0 -> 1.2.14-0
 * ros-hydro-image-view2: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-imagesift: 0.2.12-0 -> 0.3.6-0
 * ros-hydro-imu-filter-madgwick: 1.0.4-0 -> 1.0.5-0
 * ros-hydro-imu-tools: 1.0.4-0 -> 1.0.5-0
 * ros-hydro-joy-listener: 0.2.3-0 -> 0.2.4-0
 * ros-hydro-joy-mouse: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-jsk-baxter-desktop: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-jsk-baxter-startup: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-jsk-baxter-web: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-jsk-calibration: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-jsk-common: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-jsk-data: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-jsk-footstep-controller: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-jsk-footstep-msgs: 1.0.71-0 -> 2.0.0-1
 * ros-hydro-jsk-footstep-planner: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-jsk-gui-msgs: 1.0.71-0 -> 2.0.0-1
 * ros-hydro-jsk-hark-msgs: 1.0.71-0 -> 2.0.0-1
 * ros-hydro-jsk-ik-server: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-jsk-interactive: 1.0.20-0 -> 1.0.24-0
 * ros-hydro-jsk-interactive-marker: 1.0.20-0 -> 1.0.24-0
 * ros-hydro-jsk-interactive-test: 1.0.20-0 -> 1.0.24-0
 * ros-hydro-jsk-model-tools: 0.1.12-0 -> 0.1.13-0
 * ros-hydro-jsk-nao-startup: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-jsk-network-tools: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-jsk-pcl-ros: 0.2.12-0 -> 0.3.6-0
 * ros-hydro-jsk-pepper-startup: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-jsk-perception: 0.2.12-0 -> 0.3.6-0
 * ros-hydro-jsk-planning: 0.1.3-0 -> 0.1.4-1
 * ros-hydro-jsk-pr2-calibration: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-jsk-pr2-startup: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-jsk-pr2eus: 0.1.10-0 -> 0.1.11-0
 * ros-hydro-jsk-recognition: 0.2.12-0 -> 0.3.6-0
 * ros-hydro-jsk-recognition-msgs: 0.2.12-0 -> 0.3.6-0
 * ros-hydro-jsk-robot-startup: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-jsk-roseus: 1.3.5-0 -> 1.3.9-0
 * ros-hydro-jsk-rqt-plugins: 1.0.20-0 -> 1.0.24-0
 * ros-hydro-jsk-rviz-plugins: 1.0.20-0 -> 1.0.24-0
 * ros-hydro-jsk-teleop-joy: 0.1.5-0 -> 0.1.6-1
 * ros-hydro-jsk-tilt-laser: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-jsk-tools: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-jsk-topic-tools: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-jsk-visualization: 1.0.20-0 -> 1.0.24-0
 * ros-hydro-jskeus: 1.0.6-0 -> 1.0.10-0
 * ros-hydro-julius: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-kalman-filter: 0.2.3-0 -> 0.2.4-0
 * ros-hydro-katana: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-katana-arm-gazebo: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-katana-description: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-katana-driver: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-katana-gazebo-plugins: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-katana-moveit-ikfast-plugin: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-katana-msgs: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-katana-teleop: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-katana-tutorials: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-kni: 1.0.2-0 -> 1.0.3-0
 * ros-hydro-laser-filters-jsk-patch: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-laser-tilt-controller-filter: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-librms: 0.0.2-0 -> 0.0.3-0
 * ros-hydro-libsiftfast: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-maggie-serial-comm-drivers: 0.0.1-0 -> 0.0.4-0
 * ros-hydro-manifest-cleaner: 0.2.3-0 -> 0.2.4-0
 * ros-hydro-mavlink: 2015.6.12-0 -> 2015.9.9-0
 * ros-hydro-mini-maxwell: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-multi-map-server: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-multisense: 3.4.3-0 -> 3.4.4-0
 * ros-hydro-multisense-bringup: 3.4.3-0 -> 3.4.4-0
 * ros-hydro-multisense-cal-check: 3.4.3-0 -> 3.4.4-0
 * ros-hydro-multisense-description: 3.4.3-0 -> 3.4.4-0
 * ros-hydro-multisense-lib: 3.4.3-0 -> 3.4.4-0
 * ros-hydro-multisense-ros: 3.4.3-0 -> 3.4.4-0
 * ros-hydro-nextage-description: 0.6.2-0 -> 0.6.3-0
 * ros-hydro-nextage-moveit-config: 0.6.2-0 -> 0.6.3-0
 * ros-hydro-nextage-ros-bridge: 0.6.2-0 -> 0.6.3-0
 * ros-hydro-nlopt: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-object-recognition-ros-visualization: 0.3.6-1 -> 0.3.7-0
 * ros-hydro-openrtm-ros-bridge: 1.2.12-0 -> 1.2.14-0
 * ros-hydro-openrtm-tools: 1.2.12-0 -> 1.2.14-0
 * ros-hydro-opt-camera: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-pddl-msgs: 0.1.3-0 -> 0.1.4-1
 * ros-hydro-pddl-planner: 0.1.3-0 -> 0.1.4-1
 * ros-hydro-pddl-planner-viewer: 0.1.3-0 -> 0.1.4-1
 * ros-hydro-peppereus: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-posedetection-msgs: 1.0.71-0 -> 2.0.0-1
 * ros-hydro-pr2-base-trajectory-action: 0.0.6-0 -> 0.0.11-0
 * ros-hydro-pr2-ethercat-drivers: 1.8.11-0 -> 1.8.15-0
 * ros-hydro-pr2-move-base: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2-navigation: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2-navigation-config: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2-navigation-global: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2-navigation-local: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2-navigation-perception: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2-navigation-self-filter: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2-navigation-slam: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2-navigation-teleop: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-pr2eus: 0.1.10-0 -> 0.1.11-0
 * ros-hydro-pr2eus-moveit: 0.1.10-0 -> 0.1.11-0
 * ros-hydro-resized-image-transport: 0.2.12-0 -> 0.3.6-0
 * ros-hydro-rosapi: 0.7.8-0 -> 0.7.13-0
 * ros-hydro-rosauth: 0.1.6-0 -> 0.1.7-0
 * ros-hydro-rosbaglive: 0.2.3-0 -> 0.2.4-0
 * ros-hydro-rosbridge-library: 0.7.8-0 -> 0.7.13-0
 * ros-hydro-rosbridge-server: 0.7.8-0 -> 0.7.13-0
 * ros-hydro-rosbridge-suite: 0.7.8-0 -> 0.7.13-0
 * ros-hydro-roseus: 1.3.5-0 -> 1.3.9-0
 * ros-hydro-roseus-smach: 1.3.5-0 -> 1.3.9-0
 * ros-hydro-roseus-tutorials: 1.3.5-0 -> 1.3.9-0
 * ros-hydro-rosjava-bootstrap: 0.1.23-0 -> 0.1.24-0
 * ros-hydro-rosnode-rtc: 1.2.12-0 -> 1.2.14-0
 * ros-hydro-rospatlite: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-rosping: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-rostwitter: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-roswiki-node: 0.2.3-0 -> 0.2.4-0
 * ros-hydro-rqt-action: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-bag: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-bag-plugins: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-common-plugins: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-console: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-dep: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-graph: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-image-view: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-launch: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-logger-level: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-msg: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-plot: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-publisher: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-py-common: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-py-console: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-reconfigure: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-service-caller: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-shell: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-srv: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-top: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-topic: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rqt-web: 0.3.11-0 -> 0.3.12-0
 * ros-hydro-rtmbuild: 1.2.12-0 -> 1.2.14-0
 * ros-hydro-rtmros-common: 1.2.12-0 -> 1.2.14-0
 * ros-hydro-rtmros-hironx: 1.0.31-0 -> 1.0.37-0
 * ros-hydro-rtmros-nextage: 0.6.2-0 -> 0.6.3-0
 * ros-hydro-rtt-actionlib: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-actionlib-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-common-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-diagnostic-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-dynamic-reconfigure: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-geometry-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-kdl-conversions: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-nav-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-ros: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-ros-comm: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-ros-integration: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-ros-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-rosclock: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-roscomm: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-rosdeployment: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-rosgraph-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-rosnode: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-rospack: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-rosparam: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-sensor-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-shape-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-std-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-std-srvs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-stereo-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-tf: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-trajectory-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rtt-visualization-msgs: 2.7.0-3 -> 2.7.2-0
 * ros-hydro-rviz: 1.10.19-0 -> 1.10.20-0
 * ros-hydro-rviz-imu-plugin: 1.0.4-0 -> 1.0.5-0
 * ros-hydro-self-test: 1.8.7-0 -> 1.8.8-0
 * ros-hydro-semantic-point-annotator: 0.1.23-0 -> 0.1.26-0
 * ros-hydro-sklearn: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-speech-recognition-msgs: 1.0.71-0 -> 2.0.0-1
 * ros-hydro-staro-moveit-config: 0.1.8-0 -> 0.1.9-0
 * ros-hydro-task-compiler: 0.1.3-0 -> 0.1.4-1
 * ros-hydro-test-diagnostic-aggregator: 1.8.7-0 -> 1.8.8-0
 * ros-hydro-ueye-cam: 1.0.9-0 -> 1.0.11-0
 * ros-hydro-usb-cam: 0.3.3-0 -> 0.3.4-0
 * ros-hydro-virtual-force-publisher: 1.0.71-0 -> 2.0.3-0
 * ros-hydro-voice-text: 1.0.71-0 -> 2.0.8-0
 * ros-hydro-wu-ros-tools: 0.2.3-0 -> 0.2.4-0

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
 * Anqi Xu
 * Austin Hendrix
 * Brice Rebsamen
 * Carnegie Robotics
 * Damon Kohler
 * Dan Lazewatsky
 * Daniel Stonier
 * Dash
 * David Gossow
 * David V. Lu!!
 * Devon Ash
 * Dorian Scholz
 * Florian Mirus
 * Henning Deeken
 * Isaac Isao Saito
 * Isaac Saito
 * Jim Rothrock
 * KazutoMurase
 * Kei Okada
 * Maintained by Carnegie Robotics LLC
 * Martin Günther
 * Matthias Gruhler
 * MoveIt Setup Assistant
 * Noda Shintaro
 * Orocos Developers
 * Raul Perula-Martinez
 * Russell Toris
 * Ryohei Ueda
 * Scott K Logan
 * Shohei Fujii
 * Shunichi Nozawa
 * Social Robots
 * Takuya Nakaoka
 * Vincent Rabaud
 * Vladimir Ermakov
 * Yohei Kakiuchi
 * YoheiKakiuchi
 * Youhei Kakiuchi
 * Yuki Furuta
 * Yusuke Furuta
 * Yuto Inagaki
 * furuta
 * inagaki
 * k-okada
 * saito

Official Docker Hub repo for ROS and Gazebo!

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From Ruffin White via ros-users@

Hello everyone,

I'm happy to announce that ROS now has an official Docker Hub repository for ROS images [1].

You may remember earlier this year I asked the ROS community if there was any interest in starting such project [2]. Well, a few months and an OSRF internship later, OP is here to delver!

The official repository has been up for some time now, and it seems word has already gotten around as the project currently has +1000 downloads (and I know that wasn't just me), but I waited on announcing this until I had a bit of documentation and tutorials to go with it. So I'd also like to point out the Docker section that has been added to the ROS Wiki [3].

Another thing to add is that I have done the same for the Gazebo community as well, so if you'd like to start building your cloud based simulation clusters or quickly play with the latest version of Gazebo, v6.0, regardless of the dependencies you may not have installed on your workstation, you can download the official Docker Hub image for Gazebo [4].

The available ROS tags include supported distros, both Jade and Indigo, along with a hierarchy tags based off the most common meta-package dependencies:
  • ros-core: barebone ROS install
  • ros-base: basic tools and libraries (also tagged with distro name with LTS version as `latest`)
  • robot: basic install for robots
  • perception: basic install for perception tasks 
The rest of the common meta-packages such as desktop and desktop-full are hosted on automatic build repos under OSRF's Docker Hub oginsanal profile [5]. These meta-packages include graphical dependencies and hook a host of other large packages such as X11, X server, etc. So in the interest of keep the official images lean and secure, the desktop packages and perhaps more will just be hosted with OSRF's profile.

And as another plug for ROSCon 2015 [6], I'll also be giving a short presentation on this topic:
ROS + Docker: Enabling Repeatable, Reproducible, and Deployable robotic software via Linux Containers. So if you'd like to meet up and talk about shipping software containers in robots, I'll see you there.

If you have any technical questions feel free to ask on with the tag "Docker", give me a ping @ruffsl, and feel free to help me flesh out the wiki docs!

Special thanks to OSRF for making this possible,

ROS Jade Turtle Release

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We're happy to announce the official release of ROS Jade Turtle [1]! 


Jade Turtle is the ninth release of ROS and is primarily targeted at the Ubuntu distributions Trusty, Utopic, and Vivid. Our current count of packages is 520, you can compare the packages available in Indigo vs. Jade here:

You can install Jade by following the Jade installation instructions here:

I'm also happy to officially announce the name of the next release of ROS as Kinetic Kame, which we'll refer to as just "kinetic"!

We've also just finished deploying the new website and updated the documentation[3] on the new way to do prereleases for Jade and Indigo:

We're also aware of, and working on, an issue that affects rosbuild on newer Ubuntu's. The issue is a blocker, but not on Trusty. We hope to have a solution in the next few weeks. Please follow this issue if you are interested:

Finally, I want to thank all of the people who helped make this release and get it started strong and on time by the release date (which is also World Turtle day [2])! Thanks also to Tully who put together a video representation of the 40 some odd contributors across around 500 packages:

Thanks to everyone, and enjoy ROS Jade!

Jade Beta

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We're happy to announce we're now in the Jade Beta! We're a few days behind schedule, but thanks to the hard work of all our contributors we've now got all of desktop-full released into Jade and available on

Even though we're a bit behind schedule, we would like to try and keep the original release date of May 23rd (also world turtle day [1] :D). That gives us just under 23 days until the release. We'll keep that date unless we run into a show stopper within desktop-full.

So between now and then I would encourage everyone who is able to:
  • Install `ros-jade-desktop-full` on Ubuntu and test out packages you regularly use.
    • Testing on other platforms is also appreciated!
  • Try out any documentation that you can, including tutorials, package wiki pages, and generated code docs.
  • Continue releasing packages and fill out the gaps between Jade and Indigo where possible.
If you find any issues while testing, please locate the issue tracker (usually on the corresponding wiki page for the package, e.g. and report the issue there.

Auditing documentation is more challenging just because there is so much of it and searching on the wiki does not always make it easy to find pages with distribution specific content. So to help with this, I've done some special searches locally on the wiki's web server and compiled a list of pages which _may_ need to be updated for Jade:

So if you have time, please look at that list, and do a spot check on any pages that you use or have used in the past. Many of the core documentation pages are absent from that list because I've compiled them separately in a GitHub issue here:

Finally, if you are trying to release a package for Jade and the dependencies are not there yet, please contact the maintainers or ask for help on

Thanks again to everyone who helped get the Jade beta out (mostly) on time.


P.S. Only ros-jade-desktop is available on armhf right now, we're waiting on an updated set of gazebo5 debs and then we'll have desktop-full on armhf as well. Also, armhf is Trusty only right now.

P.S.S. If you are testing gazebo-ros integration, we are aware of an issue with the launch files and are tracking it here:

A work around is to install `libgazebo5-dev` manually. We hope to have a proper fix out soon.

ROS Jade Turtle Logo and Release T-shirt

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With each release of ROS we have a tradition of having a logo and making t-shirts. ROS Jade Turtle is coming out in May. Show your ROS colors and support this tradition!  Visit the Teespring Campaign page here to order your shirt.

Proceeds from shirt sales go to supporting the costs associated with developing and maintaining ROS, including hosting the wiki and running the build farm. 

There are both mens and womens sizes as well as hoodies available. 

Order now and if this campaign is funded we expect the shirts to arrive approximately when ROS Jade Turtle is released. The campaign closes on May 11th don't wait too long to order.

Here's a copy of the full logo:

Jade Build Farm Kick-Off

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I wanted to give an update on the next distribution of ROS, which we are calling ROS Jade! We've been working on getting things ready for people to start releasing packages into Jade at their convenience.

We have many of the system dependencies spec'ed out for Jade and we've catalogued them in REP-0003 [1]. So far we have over 140 packages released into Jade, including many of the core ROS packages, with binaries for Ubuntu Trusty, Utopic, and Vivid [2]. You can compare what's in Jade versus other distributions as well [3].

At this point I think it is safe for maintainers to start releasing their packages into Jade. Necessarily, you'll need the packages which you depend on to be released before you can release your packages, but some recent improvements to bloom should make it easier to check that, so make sure you have bloom version 0.5.17 or greater before trying to release!

If you find that some of your dependencies are not released yet, I encourage you to work with the maintainers for those packages and ask them to do so.

The Jade release it targeted for May 2015, so we have several months to get things released and tested, but we should avoid procrastinating.

There are few things still missing for the Jade kick-off, but we are tracking them on GitHub [4].
For example, we are still working on the pre-release instructions for Jade, but I've decided to make this announcement anyways because the pre-release is designed to make sure your release doesn't break packages which depend on your packages.
Since your packages should not have any downstream dependencies yet, releasing without a pre-release right now is okay.
So, when releasing a package for the first time into Jade, releasers should run the local deb build test [5] or just release without a pre-release test.

Thanks, and happy releasing!