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Sometime before 2007, the first pieces of what eventually would become ROS began coalescing at [[Stanford University]].<ref name=":0">{{Cite web|url=https://spectrum.ieee.org/automaton/robotics/robotics-software/wizards-of-ros-willow-garage-and-the-making-of-the-robot-operating-system|title=Wizards of ROS: Willow Garage and the Making of the Robot Operating System|last=Guizzo|first=Evan Ackerman and Erico|date=2017-11-07|website=IEEE Spectrum: Technology, Engineering, and Science News|language=en|access-date=2019-04-29}}</ref><ref>{{Cite web|url=https://spectrum.ieee.org/automaton/robotics/robotics-software/the-origin-story-of-ros-the-linux-of-robotics|title=The Origin Story of ROS, the Linux of Robotics|last=Wyrobek|first=Keenan|date=2017-10-31|website=IEEE Spectrum: Technology, Engineering, and Science News|language=en|access-date=2019-04-29}}</ref> Eric Berger and Keenan Wyrobek, PhD students working in Kenneth Salisbury's<ref>{{Cite web|url=https://www.stanford.edu/group/sailsbury_robotx/cgi-bin/salisbury_lab/?page_id=1217|title=J. Kenneth Salisbury, Ph.D. {{!}} Salisbury Robotics Lab|language=en-US|access-date=2019-04-29}}</ref> robotics laboratory at Stanford, were leading the Personal Robotics Program.<ref>{{Cite web|url=http://personalrobotics.stanford.edu/|title=Stanford Personal Robotics Program|website=personalrobotics.stanford.edu|access-date=2019-04-29}}</ref> While working on robots to do manipulation tasks in human environments, the two students noticed that many of their colleagues were held back by the diverse nature of robotics: an excellent software developer might not have the hardware knowledge required, someone developing state of the art path planning might not know how to do the computer vision required. In an attempt to remedy this situation, the two students set out to make a baseline system that would provide a starting place for others in academia to build upon. In the words of Eric Berger, "something that didn’t suck, in all of those different dimensions".<ref name=":0"/>
In their first steps towards this unifying system, the two built the [[PR1 (robot)|PR1]] as a hardware prototype and began to work on software from it, borrowing the best practices from other early open-source robotic software frameworks, particularly switchyard, a system that Morgan Quigley, another Stanford PhD student, had been working on in support of the STanford Artificial Intelligence Robot (STAIR)<ref>{{cite web|url=https://news.stanford.edu/2019/01/16/stanfords-robot-makers-andrew-ng/ |title=Stanford's Robot Makers |date=16 January 2019}}</ref><ref>{{cite web|url=http://stair.stanford.edu/papers.php |title=STAIR: The STanford Artificial Intelligence Robot project |year=2008 |publisher=Snowbird Workshop|last1=Ng|first1=Andrew|first2=Stephen|last2=Gould|first3=Morgan|last3=Quigley|first4=Ashutosh|last4=Saxena|first5=Eric|last5=Berger}}</ref><ref>{{cite web|url=http://stair.stanford.edu/|title=STAIR|website=stair.Stanford.edu|access-date=12 December 2017}}</ref><ref>{{citation|last1=Quigley|first1=Morgan|title=STAIR: Hardware and Software Architecture|url=http://www.aaai.org/Papers/Workshops/2007/WS-07-15/WS07-15-008.pdf|year=2007|publisher=AAAI 2007 Robotics Workshop|last2=Berger|first2=Eric|last3=Ng|first3=Andrew Y.|author3-link=Andrew Ng}}</ref> by the [[Stanford Artificial Intelligence Laboratory]]. Early funding of US$50,000 was provided by [[Joanna Hoffman]] and [[Alain Rossmann]], which supported the development of the PR1. While seeking funding for further development,<ref>{{Cite
=== Willow Garage (2007–2013) ===
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