August 2014 Archives

ROS Dependency Analysis Graph

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From Ben Arvey via @ros-users

Hello, my name is Ben Arvey and I've been developing a set of analysis tools for ROS under the direction of Dr. Bill Smart. Our lab is giving a talk at ROSCon concerning our research, of which this is one aspect.

I'm looking for some preliminary feedback from developers. Any information about what you need in an analysis tool would be very helpful!

Here's the web app (Chrome works best):

Here's a page with some basic documentation info and suggestions for feedback:

Experimental Indigo binaries for ARM

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From Austin Hendrix via ros-users@

I'm pleased to announce that I have experimental binary builds of ROS available for ARM and ready for wider testing.

I have builds of the ros-core and ros-base metapackages, along with PCL and the navigation stack.

Notably missing are the OpenNi drivers, rviz, moveit, and many other packages. I'm planning to work on them, but they're not currently available.

Installation instructions are available at , and the full build status is available at (green packages are built, red packages failed to build).

Just to clarify, these are builds of ROS Indigo targeted at Ubuntu Trusty (14.04) running on armhf processors


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from the Shadow Robot Company

Over at Queen Mary University London, they run a postgraduate course in Media and Arts Technology, and one of the students there, Ed Burton, created this innovative performance using ROS and the RoNeX.

This is still a work in progress but here's a  teaser of Ed's work, using ROS for a beautiful project:

And here is a quick peak at his RoNeX installation:

Lasers, anyone?

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We're happy to announce that SICK has donated hardware to OSRF for the ROS community to use in testing and development. We're now the proud owners of one each of the following laser scanners: TiM551, LMS111, and LMS511.

tim551.jpg lms111.jpg lms5xx.jpg

This generous donation was motivated by SICK's longstanding commitment to robotics, combined with their desire to see first-class support for their sensors in ROS. The LMS series is best known for providing reliable LiDAR data in tough conditions including the DARPA Urban Challenge and Boston Dynamics' LS3 AlphaDog. The TiM is a smaller version designed for great performance with low power consumption in indoor or outdoor environments.

The sensors are available for loan to members of the ROS community who want to use them for testing and development, and especially for improvement of the ROS drivers and associated tools. If you'd like to borrow one of these devices to try it out in your project, please let us know:

Thank you to our friends at SICK, and we look forward to even more robotics applications that are enabled by SICK sensors and ROS software!

STDR Simulator v0.2 released

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From Manos Tsardoulias 

Dear all,

We are happy to announce that the current version of STDR Simulator is 0.2! The changes compared to the v0.1.3 follow:

  • Several bugs were fixed
  • Code was refactored
  • Lidar resources were added
  • Added support of:
    • RFID tags and Readers
    • Thermal sources / sensors
    • CO2 sources / sensors
    • Sound sources / sensors

Special thanks to Sergey Alexandrov and Scott K Logan for code contributions.

Our future plans:
  • Make the sensor measurements more realistic
  • Add simulated battery in robots
  • Detection of robots footprint via other robots' distance sensors
  • Add a simple physics engine
It would be excellent if any of you would like to contribute either by code developmentissue reporting or features request!

The STDR team.

from Jit Ray Chowdhury via ros-users@

Autonomous Vehicle Engineers and Interns

Job Summary:

Software and System Development for driverless car modules. 

You will be enganged in development, integration and testing of perception, motion planning and control systems involved in an autonomous vehicle. 

We are looking for roboticists and other passionate to join our journey in taking robotics from labs to masses. 

Detailed Job Description  

  1.  Autonomous Vehicle Software Engineer @ 
  2.  Autonomous Vehicle Associate Engineer @
  3.  Autonomous Vehicle Intern @ 

Skills in need:

  • Good Programming skills in C++ 
  • Experience with LINUX 
  • Familiarity with ROS  and autonomous robot concepts is a plus
  • Proven Expertise in one of the fields is a plus: Image Processing, SLAM(Localization and Mapping), Controls, Path Planning. 

About us

We are Auro Robotics, a high-tech robotics startup building the first driverless car from India. The venture is a spin-off from a research group of IIT Kharagpur working on autonomous vehicles since the past 4 years. We are presently helping some of the leading automobile companies in building autonomous driving systems and ADAS for their cars.

Team Previous Experience: CMU, Qualcomm 

Here is a video of our self driving car demo.

Our profile @ 

How to Apply

Send your resume at or give us a call at +91-9002712425 (Srinivas) , +91-8588865823 (Nalin) , +91-9143299599 (Jit)



 Limited Positions, so hurry up!!

New Package: Behavior Trees pi_trees

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From Patrick Goebel via ros-users@

Hello ROS Fans,

I have created a ROS package implementing behavior trees called pi_trees.  It is written in Python and is modeled after the most excellent executive_smach package (though without the visualizer).  The only documentation I have so far is a PDF which was copied out of a chapter from my latest ROS book mentioned earlier on the list.

The package consists of a standalone Python module and a ROS wrapper for connecting to ROS topics, services and actions.

Hopefully someone will find the package useful.  And if anyone can find problems with the code or a better way of doing things, I'd love to hear it.

Early registration for ROSCon 2014 closes this Friday, August 15th. Register today to confirm your spot, save money, and ensure that you get a ROSCon t-shirt.

In addition, the deadline for the reduced rate rooms at the Palmer House is next Thursday, August 21st. Book your room today.

ROSCon 2014 logo

We'd like to thank our generous sponsors, especially: Qualcomm, Clearpath Robotics, Rethink Robotics, and Cruise Automation.

ROS Meetup Chicago!

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From Krystian Gebis

ROS Meetup Chicago! Calling all Chicago-land ROS Users!


For the past year, University of Illinois at Chicago Engineering Design Team (EDT) has been implementing ROS in all of its autonomous robots. With the progress that has been made with the understanding and implementation of ROS, the idea of hosting a group in Chicago that would be open to all that are interested in ROS was apparent. By creating this group, everyone could help make significant advancements in the field of robotics through the exchange of ideas.


All ROS users are welcome! Here is a link to the Meetup website:


First Meetup will be held on August 27th, 2014 at the University of Illinois at Chicago Science and Engineering office building (SEO).


Location and funding are both sponsored by the University of Illinois at Chicago College of Engineering.


From Patrick Goebel via ros-users@

Hello ROS users,

I am pleased to announce that Volume 2 of ROS By Example is now available on

The main chapter headings are as follows:

1. Scope of this Volume
2. Installing the ros-by-example Code
3. Task Execution using ROS
4. Creating a URDF Model for your Robot
5. Controlling Dynamixel Servos: Take 2
6. Robot Diagnostics
7. Dynamic Reconfigure
8. Multiplexing Topics with mux and yocs
9. Head Tracking in 3D
10. Detecting and Tracking AR Tags
11. Arm Navigation using MoveIt!
12. Gazebo: Simulating Worlds and Robots
13. Rosbridge: Building a Web GUI for your Robot
Appendix: Plug and Play USB Devices for ROS

A full table of contents can be found here.

Note that this first release is written for ROS Hydro and programming examples are written in Python.

The print version should be available by the end of August 2014.

New Package: rqt_ez_publisher

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From Takashi Ogura via ros-users@

I released rqt_ez_publisher for hydro and indigo.
rqt_ez_publisher automatically creates GUI for publishing topics.
(It is a plugin for rqt, which is standard GUI tool of ROS.)

It is similar to rqt_reconfigure, which is for parameters, but rqt_ez_publisher
is for topics.
Although rqt_reconfigure requires some config files,
rqt_ez_publisher needs nothing. All you have to do is select a topic from list.

This video shows how it works:

For more detail, please read wiki page.

Any feedback is welcome. Please make a issue at GitHub.

Nissan - ROS - Software Developer Opening

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From  Adam Little via ros-users@

Link to the job offer

Job Summary

Under supervision of the Researcher (Principle, Sr, or Researcher), designs, develops, and installs software solutions in areas such as computer vision, sensor fusion, machine learning, object tracking, motion planning and human-machine interaction within 3 primary fields of focus:

1.  Autonomous Driving

2.  Connected Mobility Services

3.  Human-Machine Interfaces

Job Functions

The following job function statements describe the general nature and level of work being performed. They are not to be construed as an exhaustive list of all responsibilities, duties and skills required of personnel so classified. The job function statements reflect expectations of the fully trained, proficient incumbent who meets all performance criteria.

1.    Writes computer language code for one more of the following: 1) to control or improve autonomous vehicle operation; 2) to connect vehicles to other technology (smartphones, the cloud, other cars, and traffic infrastructure, etc.).

2.    Collaborates in depth with other Silicon Valley Partners and seeks to understand integrate advanced technologies, ideas, and trends.

3.    Determines operational feasibility by evaluating analysis, problem definition, requirements, solution development, and proposed solutions.

4.    Documents and demonstrates solutions by developing documentation, flowcharts, layouts, diagrams, charts, code comments and clear code.

5.    Improves operations by conducting systems analysis; recommending changes in policies and procedures.

6.    Updates job knowledge by studying state-of-the-art development tools, programming techniques, and computing equipment; participating in educational opportunities; reading professional publications; maintaining personal networks; participating in professional organizations.

7.    Implements advanced algorithms from the robotics and artificial intelligence domains. Develops software solutions by studying information needs; conferring with users; studying systems flow, data usage, and work processes; investigating problem areas; following the software development lifecycle.

8.    Protects operations by keeping information confidential.

9.    Pushes relentlessly to make the research Nissan Research team among the most advanced and well respected teams in the world. As necessary, performs other related duties of which the above are representative.

Minimum Qualifications

The following qualification statements reflect the minimum skills and abilities required of the qualified applicant.

Job Knowledge and Skills:

  1. Thorough knowledge of software development/engineering.

  2. Ability to interpret technical contract requirements.

  3. Proficiency using programming languages such as 'C++; Python, Java, Maltlab, graphics or other developmental software are helpful.

  4. Ability to develop software in a UNIX, LINUX, SVN/Mercurial/git, Integrated Development Environments (IDEs) or other PC environment.

  5. Thorough knowledge of ROS, Boost, and Qt are preferred. Ability to effectively communicate verbally and in writing, interface with customers, subcontractors, and vendors. Ability to solve complex and difficult software problems.


At least 4 years of relevant experience with BS degree; with MS degree, will consider related research or graduate level class projects related to Nissan Research Center-SV scope.

Supervisory Experience: None required. Project leadership preferred.

Education: BS Computer Science; MS Computer Science preferred

Computer Skills: In addition to job knowledge and skills listed above, general knowledge of standard office applications required.

Physical Requirements

The physical requirements described below are representative of those an employee must normally meet to successfully perform the essential functions of this job. Reasonable accommodations may be made to enable otherwise qualified individuals with disabilities to perform the essential job functions.


Occasional day or overnight travel

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