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Planet ROS

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

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

ROS Discourse General: NVIDIA Isaac ROS 4.0 for Thor has arrived

robot-arm-gear-assembly-1

NVIDIA Isaac ROS 4.0 for Thor is HERE.

NVIDIA Isaac ROS 4.0, an open-source platform of accelerated packages and reference applications for the ROS 2 ecosystem, is now generally available.

With support for Jetpack 7.0 and Isaac Sim 5.1, you can now unlock the power of Jetson AGX Thor with your Isaac ROS applications. This release includes a new Isaac for Manipulation reference application for deploying learned policies with motion planning for a gear insertion task. The new multi-object pick-and-place workflow using behavior tree orchestration showcases new packages for FoundationStereo and GroundingDINO. Finally, improvements for FoundationPose, NITROS performance, and visual mapping and location along with new Segment Anything 2 round out Isaac ROS with the power of Thor. :mechanical_arm:

Check out the full details :right_arrow: here.

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[WWW] https://discourse.openrobotics.org/t/nvidia-isaac-ros-4-0-for-thor-has-arrived/51079

ROS Discourse General: Invitation: Multi-Robot Systems Summer School 2026 (Prague)

We would like to share the announcement for the IEEE MRS Summer School 2026, taking place July 29 – August 4, 2026 in Prague.

The event is open to anyone working in multi-robot systems, autonomous UAV/UGV control, distributed coordination, perception, planning, or ROS-based robotics. Over the years the summer school has welcomed more than 1000 participants from academic labs and industry teams worldwide.
The main goal is to bring together people working on similar MRS challenges and create space for collaboration, exchange of ideas, and hands-on experimentation.

What the program includes:

Registration:
Early registration fees apply until December 31.
If anyone in your team needs a few extra days, the organizers can extend the reduced fee individually.

Application link:
https://forms.gle/1PWThrYoNZwtAtAU9

Event page:
https://mrs.fel.cvut.cz/summer-school-2026/

If you or your colleagues are working with multi-robot systems, this is a solid opportunity to join the global community, work with real hardware, and connect with people solving similar problems.

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[WWW] https://discourse.openrobotics.org/t/invitation-multi-robot-systems-summer-school-2026-prague/51076

ROS Discourse General: Discoverability of documentation on search engines

I’m running into a bit of a weird problem. Maybe it’s more of an observation. There are times where I struggle to find the documentation for ROS code on google.

Take the following examples:

I noticed very clearly that google never gives me ROS source code, and very often outdated API documentation pages. This is really frustrating as it takes longer than I expect to get answers about very normal functions.

I’m really not sure what’s causing this. Is it just bad SEO? Is no one linking to ROS2 docs on the web and so google doesn’t prioritize them? Am I just bad at googling? I’m curious if other people have noticed this. It’s making me feel a little crazy

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[WWW] https://discourse.openrobotics.org/t/discoverability-of-documentation-on-search-engines/51059

ROS Discourse General: Depth Anything 3 ROS 2 Wrapper Development

edited: fix link for wrapper repo

This is a repost from openrobotics.zulipchat.com that I made earlier, it was suggested I post here, so here goes…

So, over the past couple days we’ve been working on getting Depth Anything 3 (DA3 - the new monocular depth estimation model from ByteDance) running with ROS2. For those unfamiliar, Depth Anything 3 is basically a neural network that can estimate depth from a single camera image - no stereo rig or LiDAR needed. It’s pretty impressive compared to older methods like MiDaS.

Depth Anything V3 paper: [2408.02532] Singularity categories of rational double points in arbitrary characteristic
Official DA3 repo: GitHub - ByteDance-Seed/Depth-Anything-3: Depth Anything 3
Our GitHub DA3 ROS2 Wrapper Repo:

Here’s what the system looks like running on our Jetson: GitHub - GerdsenAI/GerdsenAI-Depth-Anything-3-ROS2-Wrapper: ROS2 wrapper for Depth Anything 3 (https://github.com/ByteDance-Seed/Depth-Anything-3)

DA3_wrapper_working_pipeline

DA3_wrapper_working_pipeline2

You can see three terminals:

The depth visualization uses a turbo colormap (blue = close, red/orange = far). The quality is honestly better than we expected for monocular depth.

Platform: NVIDIA Jetson AGX Orin 64GB (Syslogic A4AGX64 industrial variant)

Camera: Anker PowerConf C200 2K USB webcam

Software:

Current Performance (This is Where We Need Help)

Here’s what we’re seeing:

Inference Performance:

Is PyTorch the problem? We’re running standard PyTorch with CUDA. Would TensorRT conversion give us a significant speedup? Has anyone done DA3 → TensorRT on Jetson?

Memory bandwidth? Could we be hitting memory bandwidth limits moving tensors around?

Is the model just too big for real-time? The SMALL model is 25M params. Maybe we need to quantize to FP16 or INT8?

FP16 precision - The Ampere GPU supports FP16 tensor cores. Depth estimation might not need FP32 precision.

Optimize the preprocessing - Right now we’re doing image normalization and resizing in Python/PyTorch. Could we push this to GPU kernels?

Has anyone done any of this successfully? Especially interested if anyone’s gotten DA3 or similar transformers running fast on Jetson.

The paper claims real-time performance but they’re probably testing on desktop GPUs. Getting this fast on embedded hardware is the challenge.

But, we got it working, which is cool, but 6 FPS is pretty far from real-time for most robotics applications. We’re probably doing something obviously wrong or inefficient - this is our first attempt at deploying a transformer model on Jetson.

Contact: GerdsenAI · GitHub
License: MIT

Feel free to contribute! :slight_smile:

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[WWW] https://discourse.openrobotics.org/t/depth-anything-3-ros-2-wrapper-development/51030

ROS Discourse General: The State of ROS Remote Debugging in 2025: Are We Still Stuck with SSH X11 and Fragile Tunnels? (Survey)

I’m a robotics engineer turned product builder. After years in R&D and recently interviewing around 30 robotics teams, I noticed a pattern that honestly surprised me:

Even teams with mature deployments are still relying on fragile, “temporary” setups for remote debugging.

You may recognize some of these:

Enterprise platforms (Formant, Freedom, etc.) are powerful but often expensive or too heavy for simple debugging needs. Meanwhile, open-source solutions feel fragmented.

My Hypothesis: We don’t need another heavy “platform.” We need a simple, reliable, UNIX-style pipe that just works.

I’m exploring a “stupidly simple” API focused purely on transport (low latency, resilient under packet loss). But before I commit to the architecture, I want to validate my assumptions with you.

What’s in it for you?

  1. The Data: I’ll compile the responses into an open “2025 ROS Remote Access Landscape Report” and share it here.

  2. The Access: I’m looking for beta testers — 10 random participants will receive lifetime free access to the managed API tier at launch.

PS: After you fill out the form, drop a quick reply below (e.g., “Done” or your biggest pain point). It helps keep this thread visible so we can get more community data!

Cheers, Russell [russellshe at gmail dot com]

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[WWW] https://discourse.openrobotics.org/t/the-state-of-ros-remote-debugging-in-2025-are-we-still-stuck-with-ssh-x11-and-fragile-tunnels-survey/51025

ROS Discourse General: Building a true release mode only

Hi, I’ve been working on building our software stack using only release mode and not building any packages which are test_depend. The problem I’m having is colcon scoops up all the dependencies no matter how they’re marked in the package.xml. I do not use rosdep as I don’t necessarily trust every dev out there chose wisely when building their package.xml anyways, so I’m trying to do this in a more manual way. I don’t believe I should have to build something like ament_cmake_pep257 if I have no plan to build any tests. I also shouldn’t be installing *-dev debian packages in release builds. E.g. a package I have depends on libglib2.0-dev for building, but only needs libglib2.0-0 at runtime, so the process I want is to build the package in release mode, then create a new image with only the release dependencies, and copy over the install/ space to that new image. Colcon though won’t let me separate out those packages that I don’t want to build, even though they are only <test_depend>. Does anyone else do this or have thoughts?

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[WWW] https://discourse.openrobotics.org/t/building-a-true-release-mode-only/50986

ROS Discourse General: ROSCon Review | Cloud Robotics WG Meeting 2025-11-19

Please come and join us for this coming meeting at Wed, Nov 19, 2025 4:00 PM UTC→Wed, Nov 19, 2025 5:00 PM UTC, where we plan to read through the talks from ROSCon 2025 and note down any talks relevant to Logging & Observability, which has been an ongoing topic of research for the group.

Last meeting we had a general catch-up, including reviewing the last few sessions with guest talks and deciding on some meetings to have going forwards. If you’re interested to see the meeting, it is available on YouTube.

The meeting link for next meeting is here, and you can sign up to our calendar or our Google Group for meeting notifications or keep an eye on the Cloud Robotics Hub.

Hopefully we will see you there!

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[WWW] https://discourse.openrobotics.org/t/roscon-review-cloud-robotics-wg-meeting-2025-11-19/50982

ROS Discourse General: Foxglove announces $40M series B

Hi!

Thought I would share the news with the community. At Foxglove, we just raised a $40M series B. You can read our announcement here: Robots are eating the world that software could not.

We are looking forward to our continued ROS support and growing together with the community!

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[WWW] https://discourse.openrobotics.org/t/foxglove-announces-40m-series-b/50951

ROS Discourse General: ROS 2 Rust Meeting: November 2025

The next ROS 2 Rust Meeting will be Mon, Nov 10, 2025 2:00 PM UTC

The meeting room will be at https://meet.google.com/rxr-pvcv-hmu

In the unlikely event that the room needs to change, we will update this thread with the new info!

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[WWW] https://discourse.openrobotics.org/t/ros-2-rust-meeting-november-2025/50900

ROS Discourse General: Will intrinsic supports ros2 on bazel with bzlmod?

I found out intrinsic hosts their own bzlmod registry for ros2 core packages.

Will intrinsic supports ros2 on bazel with bzlmod officially?

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[WWW] https://discourse.openrobotics.org/t/will-intrinsic-supports-ros2-on-bazel-with-bzlmod/50890

ROS Discourse General: Certificate problem on packages.ros.org?

I’ve just had a very confusing time with a dockerfile

I wonder if it’s related to the cert error I see here

https://packages.ros.org/ros2/ubuntu/pool/main/r/ros-humble-image-transport-plugins/ros-humble-image-transport-plugins_2.5.4-1jammy.20251017.031841_amd64.deb

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[WWW] https://discourse.openrobotics.org/t/certificate-problem-on-packages-ros-org/50887

ROS Discourse General: Space ROS Jazzy 2025.10.0 Release

Hello ROS community!

The Space ROS team is excited to announce Space ROS Jazzy 2025.10.0 was released last week and is available as osrf/space-ros:jazzy-2025.10.0 on DockerHub. Additionally, builds Move It 2 and Navigation 2 built on the jazzy-2025.10.0 underlay are also available to accelerate work using these systems as osrf/space-ros-moveit2:jazzy-2025.10.0 on DockerHub and osrf/space-ros-nav2:jazzy-2025.10.0 on DockerHub respectively.

Release details

Beyond the addition of the Moveit and Navigation stacks to DockerHub, this release adds a demo of JAXA’s RACS2 communications bridge by @yuyuqq showing interoperability between Space ROS and NASA’s cFS flight software - check it out in the Demos repository! For an exhaustive list of all the issues addressed and PRs merged, check out the GitHub Project Board for this release here.

Code

Current versions of all packages released with Space ROS are available at:

What’s Next

This release comes 3 months after the last release. The next release is planned for January 31, 2026. If you want to contribute to features, tests, demos, or documentation of Space ROS, get involved on the Space ROS GitHub issues and discussion board.

All the best,

The Space ROS Team

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[WWW] https://discourse.openrobotics.org/t/space-ros-jazzy-2025-10-0-release/50878

ROS Discourse General: Native buffer type

Physical AI requires DNN inference for learned policies, which in turn requires accelerators. Accelerators have their own memory and compute models that need to be surfaced in ROS 2 under abstractions, similar to how tensors are surfaced in PyTorch (accelerator aware, accelerator agnostic). This abstraction would need to be available at all layers of the ROS stack (client libraries, IDL, rmw), be vendor agnostic (CUDA, ROCm, etc.), allow for runtime graphs of heterogeneous accelerators, and enable RMW implementations to handle transport of externally managed memory efficiently. Developers who implement these concepts in their packages should have CPU backwards compatibility when specified accelerators are not available at runtime.

We propose forming a working group with other vendors hosted by the ROS PMC to introduce the concept of externally managed memory and asynchronous compute that enables accelerated graphs into ROS 2 Lyrical. Tensor semantics and DNN inference standards layered on top of what is proposed here would be designed by the Physical AI SIG.

Our design sketch is a more targeted native buffer type that maps to supplied implementations in client libraries, like rclcpp::buffer. This native type only represents a memory handle for a block that could optionally be managed externally.

namespace rclcpp { 
class buffer {
  protected:
    std::unique_ptr<BufferImplBase> impl;
    std::string device_type;
};
}  // namespace rclcpp

The client library interface does not expose its underlying buffer directly, but manages all access through vendored interfaces that add support for particular frameworks or hardware architectures. For example, an implementation for Torch in a hypothetical torch_support library as shown in the example below.

By doing so, buffer is a more fundamental type that is focused on data storage abstraction, while semantics like tensors or image buffers can then be layered on top of it.

# MessageWithTensor.msg
#
# a message containing only a buffer that is to be interpreted as a tensor

buffer tensor

// sample callback that receives a messages containing a 
// buffer, interprets it as a tensor, performs an operation 
// on it, and publishes a new message with the output, with 
// all operations performed in the Torch-chosen accelerator
// backend
void topic_callback(const msg::MessageWithTensor & input_msg) {
    torch::Tensor input_tensor =
        torch_support::from_buffer(input_msg.tensor);

    auto result = input_tensor.some_operation();

    auto output_msg = msg::MessageWithTensor();
    output_msg.tensor = torch_support::to_buffer(result);

    publisher_.publish(output_msg);
}

A default implementation for CPU backed buffers would be provided as part of the base ROS distribution, while system vendors and framework designers would provide implementations for their respective memory types. All custom implementations would always provide support to convert to and from CPU backed buffers, such that compatibility across implementations is guaranteed.

Relevant tensor type discussion can be found in the other post here: Native rcl::tensor type

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[WWW] https://discourse.openrobotics.org/t/native-buffer-type/50862

ROS Discourse General: ROSCon DE+FR workshop: integrating ROS2 application and Siemens PLCs with ROSie

Workshop: Industrial deployment of ROS applications with Siemens ROSie (ROS↔PLC connector)

Hi everyone! :waving_hand:

At ROSCon FR+DE 2025 in Strasbourg (Nov 18), together with Florian Gramß (@flo), we’ll host a hands-on workshop on connecting ROS to industrial PLCs using Siemens ROSie:
:link: developer.siemens.com/rosie/overview.html

You’ll get to work with a ROS application talking live to a Siemens PLC and explore practical deployment aspects.
:page_facing_up: Workshop info

I’ll also present my template app ManyMove, sharing some of the challenges I’ve faced while bringing it toward production.

Would love to see some of you there and hear your experiences with industrial ROS integration! :mechanical_arm:

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[WWW] https://discourse.openrobotics.org/t/roscon-de-fr-workshop-integrating-ros2-application-and-siemens-plcs-with-rosie/50859

ROS Discourse General: Recursive Fiducial Marker

I would like to share an ongoing development of a fiducial marker with recursive feature. The marker would be useful to multi-range applications.

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[WWW] https://discourse.openrobotics.org/t/recursive-fiducial-marker/50847

ROS Discourse General: ROSGraph Working Group kickoff

Hey all! From the announcement in my ROSCon talk “Escape Velocity: How to be good at launch” - here is the launch of the new working group!

If you’re just in it for the slides & launch snippets, you can find them at GitHub - emersonknapp/roscon2025_launch_snippets: Slides and code snippets for ROSCon 2025 presentation "Escape Velocity: Smarter, Cleaner ROS 2 Launch Patterns, a.k.a How to write good launchfiles"

Otherwise if you’re still with me… Come start the conversation about launch, declarative node interfaces, health monitoring, and more - the tooling that will help us reason holistically about ROS applications and their structure.

Initial meeting is next Tuesday, November 11.

If you join the mailing list https://groups.google.com/u/1/g/rosgraph-wg you will receive the calendar invite.

Key links:

I’m working on the official processes to put up a charter and get onto shared calendars, but for now we can, as Kat said, “just do things” - let’s get started!

I’ll note that this is the continuation/evolution of “Robograph Project” that I discussed earlier this year Declarative ROS presentation slides & the Robograph project kickoff - just a slightly new framing to continue on the same work.

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[WWW] https://discourse.openrobotics.org/t/rosgraph-working-group-kickoff/50846

ROS Discourse General: ROS Asia Pacific Developer Meeting #1 7th.Nov

ROS Users and Developers in Asia Pacific region :rocket:

As I announced at ROSCon 2025 Singapore Lightening Talk, we will have 1st ROS Asia Pacific Developer Meeting on this Friday 7th.Nov Convert Your Time.

ROS_APAC_Developer_Meeting-LT.pdf (3.6 MB)

If you are willing to start the contribution to ROS open source projects, please come and join us :globe_showing_asia_australia: :handshake:

ROS APAC Developer Meeting #1
Friday, November 7 · 17:00 – 17:50 Japan Standard Time
Time zone: Asia/Tokyo Convert Your Time
Google Meet joining info
Video call link: https://meet.google.com/miv-whfs-yjy

Please join https://groups.google.com/g/ros-apac-developer-meeting, so you won’t miss the meeting.

looking forward to e-meeting you all :grin:

Best,
Tomoya

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[WWW] https://discourse.openrobotics.org/t/ros-asia-pacific-developer-meeting-1-7th-nov/50837

ROS Discourse General: FOSDEM 2026: Robotics & Simulation Devroom, 2nd edition!

As spoiled at ROSCon Singapore: We have another developer room for Robotics and Simulation at FOSDEM! :partying_face: FOSDEM arguably the largest open source software developer conference in the world (and it’s free!).

It full event takes place on 2026 Jan 31th - Feb 1th (Sat, Jan 31, 2026 8:00 AM UTC→Sun, Feb 1, 2026 5:00 PM UTC) and it is all on the ULB Campus, Brussels, Belgium.

Thanks to the success last year, we will have a full day assigned this time, namely on the Saturday (31th). We now have a call for participation open, in which you can find more information about what kind of talks/projects we are looking for! Deadline for proposal submission is 1th of December!

In the true spirit of FOSDEM, everyone is welcome from any robotics community working in open source. Of course, we would love many of the ROS community to join this time as well, as many of you showed up for the last year edition!

Here is some pictures of last year:

Screenshot 2025-02-03 144928

If you want inspiration you check out the recorded talks of last year. Make sure that it needs to be about an open source work, preferably project based, and focus on the sharing of knowledge.

Also make sure that you see any other interesting accepted devrooms you’d like to attend during the event! We will be doing the same ourselves on Sunday, being fueled on club mate.

See you in Brussels!

Arnaud, Mat, Fred, Lucas and Kim

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[WWW] https://discourse.openrobotics.org/t/fosdem-2026-robotics-simulation-devroom-2nd-edition/50828

ROS Discourse General: NAV2 demonstration on a real robot

I have a repo and YouTube demo of NAV2 running on a real robot.

This will not interest experienced NAV2 users. Also if you are interested in NAV2 in simulation there are better tutorials for this out there.

This is aimed at home hobbyists, who have got their mobile robot working under manual control (e.g. ROS2 Control), but may have struggled to get NAV2 working well. That was me!

YouTube link: https://youtu.be/xmR9_JrH2SY

Repo link: GitHub - jfrancis71/ros2_nav2_demo: Demonstration of how to use the ROS2 Nav2 stack for navigation

Hope this is of interest to some…

Julian.

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[WWW] https://discourse.openrobotics.org/t/nav2-demonstration-on-a-real-robot/50815

ROS Discourse General: New ROS 2 Features for Mini Pupper 2

New ROS 2 Features - Mini Pupper 2

Hello everyone,

I’m Kishan Grewal, a Robotics and AI student at University College London (UCL). Over the summer, I interned at MangDang in Hong Kong, where I extended the ROS 2 software stack for the Mini Pupper 2 quadruped robot.

My work broadened the Mini Pupper 2’s ROS 2 ecosystem with additional packages that work across different hardware configurations. Depending on your setup, you can now explore person tracking, autonomous navigation, or multi-robot coordination - all through ROS 2.

Vision-Based Tracking

I developed a tracking node that performs real-time person detection and tracking using a YOLO11n ONNX model with multi-object detection and IMU feedback for stable control.

If you have a Mini Pupper 2 with a compatible Pi camera, this package lets the robot visually follow a person while maintaining orientation. The system includes a lightweight Flask web interface and RViz visualization.

Demo - Vision Tracking

Code - mini_pupper_tracking package

Multi-Robot Fleet Coordination

I created a fleet package that uses ROS 2 namespacing and synchronised state estimation to enable cooperative motion, shared heading control, and distributed communication.

So if you have access to multiple Mini Pupper 2 robots, try out coordinated multi-robot teleoperation.

Demo - Fleet Coordination

Code - mini_pupper_fleet package

Navigation and SLAM

If you’ve fitted your Mini Pupper 2 with a LiDAR sensor, the navigation stack now allows you to use SLAM Toolbox and Nav2 to perform reliable map-based localization and path planning. The configuration is currently tuned for table-area navigation but can be altered for other environments.

This setup enables a Mini Pupper 2 with LiDAR to perform autonomous indoor navigation and mapping.

Demo - Navigation and SLAM

Code - mini_pupper_navigation package

All of these developments have been pushed upstream to the MangDang Robotics Club ROS repository and are available for anyone to explore with their own Mini Pupper 2.

I’d be happy to discuss implementation details or hear from others experimenting with ROS 2 on small quadruped platforms.

Best regards,

Kishan Grewal

GitHub | LinkedIn

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[WWW] https://discourse.openrobotics.org/t/new-ros-2-features-for-mini-pupper-2/50806

ROS Discourse General: [First Release] Asyncio For Robotics: Asyncio interface for ROS 2

Hello fellow ROS 2 users,

I wanted to use asyncio with ROS 2 for a while, but didn’t find anything good enough. So I made a library: asyncio_for_robotics: https://github.com/2lian/asyncio-for-robotics

I am looking for feedback from the community, especially as this is my first release :sweat_drops:. What would you like to see? What is missing? What do you find confusing? What should I put forward?

VVV About the project VVV

Why asyncio?

Other solutions

I’ve seen several discussions, and people asking for asyncio+ROS 2. Many good solution have been proposed! However, I feel none was polished and reliable enough, usually they increase the barrier of entry instead of lowering it:

How asyncio_for_robotics works? What’s different?

I spin the ROS node in a background thread (similarly to rclpy_async). The user can directly provide a – possibly custom – node to spin in the background, and the user can still interact with the node object – it is just a standard ros node.

This background node sends data onto the main asyncio thread. I provide the user with only a subscription object that exposes several ways to wait for data: wait for data, wait for new data, wait for next data, async for loop to process all data. This object exposes the data stream of ROS objects: Timer, Subscriber, Service Server (Action Server is not implemented yet). On the other hand, Publisher doesn’t need to be implemented, because the user can directly use the node to create one. Service Client has a very small implementation returning an asyncio future of the call.

Finally, it is named asyncio_for_robotics because it can be used with other transport protocol (like zenoh), if you make an interface for it – there’s a quick tutorial on how to do that.

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[WWW] https://discourse.openrobotics.org/t/first-release-asyncio-for-robotics-asyncio-interface-for-ros-2/50795

ROS Discourse General: Cloud Robotics WG Meeting 2025-11-05

Please come and join us for this coming meeting at Wed, Nov 5, 2025 4:00 PM UTC→Wed, Nov 5, 2025 5:00 PM UTC, where we will have a general catch-up, including reviewing the last few sessions with guest talks and how they contribute to our overall goal of building a Logging & Observability community guide.

Last meeting,Sergi Grau-Moya, Co-founder and CEO of INSAION, and Victor Massagué Respall, Co-founder and CTO of INSAION, presented the INSAION platform to the group. This platform is an observability platform for your robot fleet, allowing users to optimise robot operations and explore advanced robot diagnostics. It also has some very impressive visualisations! If you’re interested to see the meeting, it is available on YouTube.

The meeting link for next meeting is here, and you can sign up to our calendar or our Google Group for meeting notifications or keep an eye on the Cloud Robotics Hub.

Hopefully we will see you there!

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[WWW] https://discourse.openrobotics.org/t/cloud-robotics-wg-meeting-2025-11-05/50752

ROS Discourse General: Free ROSCon 2025 Live Stream

ROSCon 2025 Live Stream is up!

LiveStream (1)

The ROSCon 2025 Live Stream is up!

We’ve got two channels, one for each session.

You can follow the schedule here.

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[WWW] https://discourse.openrobotics.org/t/free-roscon-2025-live-stream/50718

ROS Discourse General: Announcement: rclrs 0.6.0 Release

We’re excited to announce the latest official release of rclrs, right on time for ROSCon ‘25 in Singapore! This new release includes support for two long awaited features: timers and actions!

And not only that, but the Rust code generator is now one of the core generators in Rolling :partying_face: rosidl_core/rosidl_core_generators/package.xml at rolling · ros2/rosidl_core · GitHub

Join us on our Matrix channel if you want to talk about the future of Rust in ROS

I’ll be giving a talk about the ros2-rust project at ROSCon, if your’re around, come say hi!

This release has been possible thanks to the work of these amazing people:

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[WWW] https://discourse.openrobotics.org/t/announcement-rclrs-0-6-0-release/50710

ROS Discourse General: Introducing `colcon_gephi` – Generate Rich Dependency Graphs Compatible With Graph Visualization Tools

Have you ever run colcon graph --dot | dot -Tpng -o graph.png, waited a few minutes, and looked at unhelpful pngs?

Have you ever asked thought-provoking questions like:

Introducing: colcon_gephi

A colcon plugin to generate rich dependency graphs for a ROS 2 workspace that are compatible with graph visualization tools!

Below is an example graph of the workspace for the ros2 rolling repos. For details on what the graph actually is showing, see Example Graph Details.

image

Features

Currently supports exporting in:

Unlike colcon graph, this extension preserves extra package metadata (e.g., maintainers, repository info, build type) as node attributes. This makes it easier to analyze dependency relationships visually in Gephi.

Usage

cd ros2_rolling/ 
colcon gephi_graph

The generated .dot file will have the name of the directory the command was run in. So in this case, it is ros2_rolling.dot.

To change the file format, pass the --format flag.

colcon gephi_graph --format gml

Notes

Graph Visualization Tools

As you can probably guess based on the plugin name, I primarily use Gephi as my graph visualization tool of choice. However, there are more out there which might work with some of the supported output formats. Cytoscape and Argo Lite are two examples although I do not test with these.

Example Graph Details

The graph generated at the top of this post was laid out by following this video. Larger nodes are nodes with more “in-degree” edges (i.e. edges pointing into them), which gives a visual representation of how many packages depend on them. Finally, the colors are based on the package build_type (i.e. ros.ament_cmake, ros.ament_python, etc).

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[WWW] https://discourse.openrobotics.org/t/introducing-colcon-gephi-generate-rich-dependency-graphs-compatible-with-graph-visualization-tools/50705

2025-11-22 12:19