|
The main ROS client libraries (C++, Python, and Lisp) are geared toward a [[Unix-like]] system, primarily because of their dependence on large collections of open-source software dependencies. For these client libraries, [[Ubuntu (operating system)|Ubuntu Linux]] is listed as "Supported" while other variants such as [[Fedora (operating system)|Fedora Linux]], [[macOS]], and [[Microsoft Windows]] are designated "Experimental" and are supported by the community.<ref>{{cite web|url=http://wiki.ros.org/ROS/Installation |title=ROS/Installation - ROS Wiki |publisher=Wiki.ros.org |date=2013-09-29 |accessdate=2014-07-12}}</ref> The native Java ROS client library, rosjava, however, does not share these limitations and has enabled ROS-based software to be written for the [[Android (operating system)|Android OS]].<ref>{{cite web|url=http://wiki.ros.org/android |title=android - ROS Wiki |publisher=Wiki.ros.org |date=2014-04-12 |accessdate=2014-07-12}}</ref> rosjava has also enabled ROS to be integrated into an officially supported [[MATLAB]] toolbox which can be used on [[Linux]], [[macOS]], and Microsoft Windows.<ref>{{cite web|url=http://www.mathworks.com/hardware-support/robot-operating-system.html |title=Robot Operating System (ROS) Support from MATLAB - Hardware Support |publisher=Mathworks.com |date= |accessdate=2014-07-12}}</ref> A [[JavaScript]] client library, roslibjs has also been developed which enables integration of software into a ROS system via any standards-compliant web browser. In September 2018 Microsoft ported Core ROS to Windows 10.
==History and milestones==
{{Comment}} This section should be rewritten narratively.
=== Early Days at Stanford (2007 and Earlier) ===
{{Comment}} Also, a section on ROS2 should be added to the end.
Sometime before 2007, the first pieces of what eventually would become ROS were beginning to come together 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 (engineer)|Eric Berger]] and [[Keenan Wyrobek]], PhD students working in [[Kenneth Sailsbury|Kenneth Sailsbury’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 build 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 STAIR (STanford Artificial Intelligence Robot)<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 50,000 USD was provided by [[Joanna Hoffman]] and [[Alain Rossmann]], which supported the development of the PR1. While seeking funding for further development<ref>{{Cite journal|last=Keenan Wyrobek|date=2017-07-03|title=Personal Robotics Program Fund Fundraising Deck from 2006|url=https://www.slideshare.net/KeenanWyrobek/personal-robotics-program-fund-fundraising-deck-from-2006}}</ref>, Eric Berger and Keenan Wyrobek met [[Scott Hassan]], the founder of [[Willow Garage]], a [[technology incubator]] which was working on an autonomous SUV and a solar autonomous boat. Hassan shared Berger and Wyrobek’s vision of a “Linux for robotics”, and invited them to come and work at Willow Garage. Willow Garage was started in January of 2007, and the first commit of ROS code was made to SourceForge on the seventh of November, 2007<ref>{{cite web|url=https://sourceforge.net/p/ros/code/10/log/?path=|title=Repository: code|website=Sourceforge.net|access-date=12 December 2017}}</ref>.
{{Comment}} The first lego storm citation may not be accurate.
=== Willow Garage (2007-2013) ===
Willow Garage began developing the [[PR2 (robot)|PR2]] robot as a follow-up to the PR1, and ROS as the software to run it. Groups from more than twenty institutions made contributions to ROS, both the core software and the growing number of packages which worked with ROS to form a greater software ecosystem<ref>{{cite web|url=http://www.ros.org/wiki/Repositories|title=Repositories|work=ROS.org|access-date=7 June 2011}}</ref><ref name="Quigley-ROS">{{cite web|url=http://www.robotics.stanford.edu/~ang/papers/icraoss09-ROS.pdf|title=ROS: an open-source Robot Operating System|last1=Quigley|first1=Morgan|last2=Gerkey|first2=Brian|access-date=3 April 2010|last3=Conley|first3=Ken|last4=Faust|first4=Josh|last5=Foote|first5=Tully|last6=Leibs|first6=Jeremy|last7=Berger|first7=Eric|last8=Wheeler|first8=Rob|last9=Ng|first9=Andrew|author-link9=Andrew Ng}}</ref>. The fact that people outside of Willow were contributing to ROS (particularly from Stanford’s STAIR project) meant that ROS was a multi-robot platform from the beginning. While Willow Garage had originally had other projects in progress, they were scrapped in favor of the Personal Robotics Program: focused on producing the PR2 as a research platform for academia and ROS as the open source robotics stack that would underlie both academic research and tech startups, much like the [[LAMP (software bundle)|LAMP stack]] did for web-based startups.
ROS was started by borrowing the best practices from many early open source robotic software frameworks including ''switchyard'' by the [[Stanford Artificial Intelligence Laboratory]] in support of the Stanford AI Robot STAIR (STanford AI Robot) project.<ref>{{cite web|url=http://stair.stanford.edu/|title=STAIR|website=stair.Stanford.edu|access-date=12 December 2017}}</ref><ref>{{citation |title=STAIR: Hardware and Software Architecture |first1=Morgan |last1=Quigley |first2=Eric |last2=Berger |first3=Andrew Y. |last3=Ng |author3-link=Andrew Ng |year=2007 |url=http://www.aaai.org/Papers/Workshops/2007/WS-07-15/WS07-15-008.pdf |publisher=AAAI 2007 Robotics Workshop}}</ref>
In January of 2007 Willow Garage hired their first employees: Jonathan Stark, Melonee Wise, Curt Meyers, and John Hsu.
By the seventh of November, 2007, the first commit of ROS code was made to SourceForge<ref>{{cite web|url=https://sourceforge.net/p/ros/code/10/log/?path=|title=Repository: code|website=Sourceforge.net|access-date=12 December 2017}}</ref>
In December 2008, Willow Garage met the first of their three internal milestones: continuous navigation for the PR2 over a period of two days and a distance of pi kilometers<ref>{{Citation|last=WillowGaragevideo|title=Milestone 1|date=2008-12-19|url=https://www.youtube.com/watch?v=iGoqYm7-NkQ|access-date=2019-04-29}}</ref>. Soon after, an early version of ROS (0.4 Mango Tango)<ref>{{Cite web|url=http://www.ros.org/news/2009/02/ros-04-release.html|title=ROS 0.4 Release - ROS robotics news|website=www.ros.org|access-date=2019-04-29}}</ref> was released, followed by the first RVIZ documentation and the first paper on ROS<ref name="Quigley-ROS" />. In early summer, the second internal milestone: having the PR2 navigate the office, open doors, and plug itself it in, was reached<ref>{{Citation|last=WillowGaragevideo|title=Milestone 2 Explained|date=2009-07-02|url=https://www.youtube.com/watch?v=I1emTXIzhZw|access-date=2019-04-29}}</ref>. This was followed in August by the initiation of the ROS.org website<ref>{{cite web|url=http://www.ros.org/news/2009/08/welcome-to-ros-org.html|title=Welcome to ros.org - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>. Early tutorials on ROS were posted in December<ref>{{cite web|url=http://www.ros.org/news/2009/12/ros-tutorials-and-turtles.html|title=ROS Tutorials and Turtles - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>, preparing for the release of ROS 1.0, in January of 2010<ref>{{Cite web|url=http://www.ros.org/news/2010/01/ros-10.html|title=ROS 1.0 - ROS robotics news|website=www.ros.org|access-date=2019-04-29}}</ref>. This was Milestone 3: producing tons of documentation and tutorials for the enormous capabilities that Willow Garage’s engineers had developed over the preceding 3 years.
===2008===
Development was performed primarily at [[Willow Garage]], a robotics research lab, when [[Eric_Berger_(engineer)|Eric Berger]] and Keenan Wyrobek,<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|website=IEEE Spectrum: Technology, Engineering, and Science News|language=en|access-date=2017-10-31}}</ref> the founders of the Stanford Personal Robotics Program,<ref>{{Cite web|url=http://personalrobotics.stanford.edu/|title=Stanford Personal Robotics Program|website=personalrobotics.stanford.edu|access-date=2017-07-03}}</ref> left Stanford to start the Personal Robotics Program at Willow Garage.<ref>{{Cite news|url=https://magazine.engineerjobs.com/2013/robot-operating-system.htm|title=Robot Operating System|date=2013-05-01|work=EngineerJobs Magazine|access-date=2017-07-03|language=en-US}}</ref> During that time, researchers at more than twenty institutions collaborated with Willow Garage engineers in a federated development model.<ref>{{cite web |url=http://www.ros.org/wiki/Repositories |title=Repositories |work=ROS.org |access-date=7 June 2011}}</ref><ref name=Quigley-ROS>{{cite web |url=http://www.robotics.stanford.edu/~ang/papers/icraoss09-ROS.pdf |title=ROS: an open-source Robot Operating System |first1=Morgan |last1=Quigley |first2=Brian |last2=Gerkey |first3=Ken |last3=Conley |first4=Josh |last4=Faust |first5=Tully |last5=Foote |first6=Jeremy |last6=Leibs |first7=Eric |last7=Berger |first8=Rob |last8=Wheeler |first9=Andrew |last9=Ng |author-link9=Andrew Ng |access-date=3 April 2010}}</ref>
Following this, Willow Garage achieved one of its longest held goals: giving away 10 PR2 robots to worthy academic institutions. This had been a long held goal of the original founders, as they felt that the PR2 could kick-start robotics research around the world. They ended up awarding eleven PR2s to different institutions, including [[University of Freiburg|University of Freiburg (Germany)]], [[Robert Bosch GmbH|Bosch]], [[Georgia Institute of Technology|Georgia Tech]], [[KU Leuven|KU Leuven (Belgium)]], [[Massachusetts Institute of Technology|MIT,]] [[Stanford University|Stanford]], [[Technical University of Munich|TU Munich (Germany)]], [[University of California, Berkeley|UC Berkeley]], [[University of Pennsylvania|U Penn]], [[University of Southern California|USC]], and [[University of Tokyo|University of Tokyo (Japan)]]<ref>{{Cite web|url=http://www.willowgarage.com/blog/2010/05/04/pr2-beta-program-recipients|title=The Results Are In: PR2 Beta Program Recipients! {{!}} Willow Garage|website=www.willowgarage.com|access-date=2019-04-29}}</ref>. This, combined with Willow Garage’s highly successful internship program<ref>{{Cite web|url=http://www.willowgarage.com/pages/community/interns-and-visiting-scholars|title=Interns and Visiting Scholars {{!}} Willow Garage|website=www.willowgarage.com|access-date=2019-04-29}}</ref> (run from 2008-2010 by [[Melonee Wise]]), helped to spread the word about ROS throughout the robotics world. The first official ROS distribution release: ROS Box Turtle, was released on March 2nd of 2010, marking the first time that ROS was official distributed with a set of versioned packages for public use. These developments lead to the first drone running ROS<ref>{{cite web|url=http://www.ros.org/news/2010/05/robots-using-ros-penn-quadrotors.html|title=Robots Using ROS: Penn Quadrotors - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>, the first autonomous car running ROS<ref>{{cite web|url=http://www.ros.org/news/2010/03/robots-using-ros-marvin-autonomous-car.html|title=Robots Using ROS: Marvin autonomous car (Austin Robot Technology/UT Austin) - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>, and the adaption of ROS for [[Lego Mindstorms]]<ref>{{cite web|url=http://www.ros.org/news/2010/08/robots-using-ros-lego-nxt.html|title=Robots Using ROS: Lego NXT - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>. With the PR2 Beta program well underway, the PR2 robot was officially released for commercial purchase on September 9th, 2010<ref>{{Cite web|url=http://www.willowgarage.com/blog/2010/09/07/pr2-pricing-and-open-source-discount|title=PR2 Robots Available for Purchase|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>.
===2009===
ROS 0.4 Mango Tengo was released on February 10th, 2009. On February 16th of the same year, RVIZ's first version of documentation released.
The first published paper on ROS was published on May 12th, 2009: ''ROS: an open-source Robot Operating System''(Authors: Morgan Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, [[Andrew Ng|Andrew Y Ng]])<ref name=Quigley-ROS />
ROS.org ___domain was put up on the web on August 16th.<ref>{{cite web|url=http://www.ros.org/news/2009/08/welcome-to-ros-org.html|title=Welcome to ros.org - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref> Later that year, the first ROS Tutorial was published on December 12th.<ref>{{cite web|url=http://www.ros.org/news/2009/12/ros-tutorials-and-turtles.html|title=ROS Tutorials and Turtles - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
On2011 Aprilwas 16a banner year for ROS with the launch of ROS Answers, 2012 a Q/A forum for ROS users, on February 15th<ref>{{cite web|url=http://www.ros.org/news/2011/02/announcing-ros-answers.html|title=Announcing ROS Answers - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>; the introduction of the highly successful Turtlebot robot kit on April 18th<ref>{{cite web|url=http://www.willowgarage.com/blog/2011/04/18/turtlebots-available-preorder|title=ROS on the Move: TurtleBots available for preorder - Willow Garage |website=www.WillowGarage.com|access-date=12 createdDecember 2017}}</ref>; and the total number of ROS repositories passing 100 on May 5th<ref>{{cite web|url=http://www.ros.org/news/2011/05/100-repositories.html|title=100 Repositories - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>. Willow Garage began 2012 by creating the [[Open Source Robotics Foundation ]] (OSRF)<ref>{{Cite web|url=http://www.willowgarage.com/blog/2012/04/16/open-source-robotics-foundation|title=Willow Garage Spins Out OSRF|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref> in April. The nextOSRF daywas on April 17 [[DARPA]]immediately awarded a software contract toby Open Source Robotics FoundationDARPA<ref>{{Cite news|url=https://spectrum.ieee.org/automaton/robotics/robotics-software/darpa-robotics-challenge-simulation-software-open-source-robotics-foundation|title=DARPA Awards Simulation Software Contract to Open Source Robotics Foundation|last=|first=|date=|work=|access-date=|archive-url=|archive-date=|dead-url=}}</ref> . OnLater Maythat 19year, the Firstfirst ROSCon iswas held in SaintSt. Paul, MN<ref>{{Cite web|url=http://www.ros.org/news/2012/05/thanks-for-a-great-roscon-2012.html|title=Thanks for a great ROSCon 2012! - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> On September 4, 2012 the first book on ROS was published. , ''ROS By Example'' , by Patrick Goebel<ref>{{Cite web|url=http://www.ros.org/news/2012/09/new-book-ros-by-example.html|title=New Book: ROS by Example - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> , Thewas same monthpublished, and the Baxter, first commercial robot basedto onrun ROS , was releasedannounced by [[Rethink Robotics]]<ref>{{Cite web|url=http://www.ros.org/news/2012/09/rethink-ros.html|title=Rethink ROS - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> . Novermber Soon 7after ,passing 2012its marked the five yearfifth anniversary ofin ROS.November, <ref>{{Cite web|url=http://www.ros.org/news/2012/12/ros-five-years.html|title=ROS : Fivebegan Yearsrunning -on ROSevery robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> Finally,continent on December 33rd, 2012 ROS began running on every continent<ref>{{Cite web|url=http://www.ros.org/news/2012/12/ros-five-years.html|title=ROS: Five Years - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> . ▼===2010===
ROS 1.0 was released on January 22, 2010. In the same year, the first [[autonomous car]] running ROS was announced on March 30th by [[University of Texas at Austin|UT Austin]] and Austin Robotic Technology. <ref>{{cite web|url=http://www.ros.org/news/2010/03/robots-using-ros-marvin-autonomous-car.html|title=Robots Using ROS: Marvin autonomous car (Austin Robot Technology/UT Austin) - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref> Then, on May 5th, 2010 Willow Garage awarded PR2 Robots to 11 different institutions [[University of Freiburg]] (Germany), [[Robert Bosch GmbH|Bosch]], [[Georgia Institute of Technology|Georgia Tech]], [[KU Leuven]] (Belgium), [[Massachusetts Institute of Technology|MIT]], [[Stanford University|Stanford]], [[Technical University of Munich|TU Munich]] (Germany), [[University of California, Berkeley|UC Berkeley]], [[University of Pennsylvania|U Penn]], [[University of Southern California|USC]], and [[University of Tokyo]] (Japan).
TheIn firstFebruary droneof using ROS2013, fromthe GRASPOSRF Labbecame atthe [[Universityprimary ofsoftware Pennsylvania|Umaintainers Penn]]for was announced on weeks later, on May 29th.ROS<ref>{{cite web|url=http://www.rososrfoundation.org/newsblog/2010/05/robots-using-ros-pennat-quadrotorsosrf.html|title=Robots Using ROS: Penn QuadrotorsOsrf - ROSRos robotics@ newsOsrf|websitedate=www.ROS2013-02-11|publisher=Osrfoundation.org|access-dateaccessdate=2014-07-12 December 2017}}</ref>, Byforeshadowing the announcement in August 19th,that ROSWillow onGarage waswould firstbe usedabsorbed onby its founders, [[LegoSuitable MindstormsTechnologies]].<ref>{{cite web|url=http://www.roswillowgarage.orgcom/newsblog/20102013/08/robots21/willow-usinggarage-rosemployees-legojoin-nxt.htmlsuitable-technologies|title=Robotsemployees Usingjoin Suitable Technologies|date=|publisher=Willow Garage|accessdate=2014-07-12}}</ref>. At this point, ROS: Legohad NXTreleased -seven major versions (up to ROS roboticsGroovy<ref newsname=":1">{{Cite web|websiteurl=wwwhttp://wiki.ros.org/Distributions|title=Distributions - ROS Wiki|website=wiki.ros.org|access-date=12 December 20172019-04-29}}</ref>), Onand Septemberhad 9th,users 2010,all PR2over robotsthe wereglobe. made This availablechapter forof commercialROS development would be finalized when [[Clearpath Robotics|ClearPath Robotics]] took over support purchaseresponsibilities for the firstPR2 time.in early 2014<ref>{{Cite web|url=httphttps://www.willowgarageclearpathrobotics.com/blog2014/201001/09/07/pr2clearpath-pricingwelcomes-and-open-source-discountpr2/|title=Clearpath Welcomes PR2 Robotsto Available forthe PurchaseFamily|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>.
=== OSRF and Open Robotics (2013-Present) ===
===2011===
2011 sawIn the introductionyears ofsince manyOSRF staplestook over primary development of ROS., Thea firstnew publicversion appearancehas ofbeen TurtleBotreleased every year<ref name=":1" />, while interest in ROS continues to grow. ROSCons have occurred onevery Januaryyear 26thsince 2012,co-located atwith theeither Homebrew[[International Conference on Robotics Club.and ROSAutomation|ICRA]] Answersor [[International Conference On Intelligent Robots and Systems|IROS,]] atwo Q/Aflagship forumrobotics forconferences. Meetups of ROS users,developers washave introducedbeen onorganized Februaryin 15tha variety of countries<ref>[http://www.ros.org/news/2015/01/notes-from-the-first-korean-ros-users-meetup.html ROS meetup in Korea]</ref><ref>{{citeCite web|url=http://www.ros.org/news/20112016/0201/announcinginvitation-to-the-first-danish-ros-answersmeetup.html|title=Announcing ROSFirst Answers -Danish ROS robotics newsMeetup|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref><ref>{{Cite web|url=http://www.ROSros.org/news/2017/03/invitation-to-the-first-ukrainian-ros-meetup.html|title=First Ukrainian ROS Meetup|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=12 December 2017}}</ref>, Ona Aprilnumber 18thof WillowROS Garagebooks officiallyhave announcedbeen the TurtleBot, a hobbyist personal robot kit.published<ref>{{cite web|url=http://wwwshop.willowgarageoreilly.com/blogproduct/2011/04/18/turtlebots-available-preorder0636920024736.do|title=ROSProgramming onRobots thewith MoveROS: TurtleBotsA availablePractical forIntroduction preorderto -the WillowRobot GarageOperating System|website=www.WillowGarageOReilly.com|access-date=12 December 2017}}</ref>, Onand Maymany 5theducational ROS,programs surpassed 100 repositories.initiated<ref>{{citeCite web|url=http://www.ros.org/news/20112015/0508/100report-repositoriesfrom-first-ros-summer-school-in-china.html|title=100Report Repositoriesfrom first ROS Summer School in China - ROS robotics news|website=www.ROSros.org|access-date=12 December 20172018-11-24}}</ref><ref>{{Cite The 100th repository was rlweb|url=http://www.theconstructsim.com/construct-texplorelearn-rosdevelop-pkgrobots-using-ros/robotigniteacademy_learnros/|title=ROS fromRobot theIgnite [[UniversityAcademy}}</ref>. ofOn TexasSeptember at1st, Austin2014, [[NASA]] Theannounced the first purerobot Javato implementation ofrun ROS wasin announced atspace: [[GoogleRobonaut|Robotnaut I/O2]], on Maythe 11th,[[International 2011Space Station]].<ref>{{Citecite web|url=http://www.ros.org/news/20112014/0509/google-io-2011-cloud-robotics-ros-forrunning-javaon-and-androidiss.html|title=Google I/O 2011: Cloud Robotics, ROS forrunning Java andon AndroidISS - ROS robotics news|website=www.rosROS.org|access-date=2018-11-2412 December 2017}}</ref> TheIn 4th2017, anniversarythe ofOSRF ROSchanged its name to [[Open Robotics]]. Tech giants [[Amazon (company)|Amazon]] and video[[Microsoft]] compilationbegan wasto publishedtake onan Novemberinterest 8th.in ROS during this time, with Microsoft porting core ROS to Windows in September 2018<ref>{{Cite web|url=httphttps://wwwros-win.visualstudio.com/ros-win|title=Summary|website=ros-win.orgvisualstudio.com|access-date=2019-04-29}}</newsref>, followed by Amazon Web Services releasing RoboMaker in November<ref>{{Cite web|url=https:/2011/11aws.amazon.com/celebratingabout-theaws/whats-fourthnew/2018/11/announcing-anniversaryaws-ofrobomaker-rosa-andnew-thecloud-firstrobotics-roscon-2012.htmlservice/|title=CelebratingAnnouncing theAWS fourthRoboMaker|website=Amazon anniversaryWeb ofServices, ROSInc... and the First ROSCon 2012 - ROS robotics news|websitelanguage=www.ros.orgen-US|access-date=20182019-1104-2429}}</ref>.
Perhaps the most important development of the OSRF/Open Robotics years thus far (not to discount the explosion of robot platforms which began to support ROS or the enormous improvements in each ROS version) was the proposal of ROS2, a significant API change to ROS which is intended to support [[Real-time computing|real time programming]], a wider variety of computing environments, and utilize more modern technology<ref>{{Cite web|url=http://design.ros2.org/articles/why_ros2.html|title=Why ROS 2.0?|website=design.ros2.org|access-date=2019-04-29}}</ref>. ROS2 was announced at ROSCon 2014<ref>{{Cite web|url=https://index.ros.org/doc/ros2/|title=ROS2 Overview|website=index.ros.org|access-date=2019-04-29}}</ref>, the first commits to the ros2 repository were made in February 2015, followed by alpha releases in August 2015<ref name=":2">{{Cite web|url=https://index.ros.org/doc/ros2/Releases/|title=ROS 2 Distributions|website=index.ros.org|access-date=2019-04-29}}</ref>. The first distribution release of ROS2, Ardent Apalone, was released on December 8th, 2017<ref name=":2" />, ushering in a new era of next-generation ROS development.
===2012===
▲On April 16,2012 Willow Garage created the Open Source Robotics Foundation<ref>{{Cite web|url=http://www.willowgarage.com/blog/2012/04/16/open-source-robotics-foundation|title=Willow Garage Spins Out OSRF|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>. The next day on April 17 [[DARPA]] awarded a software contract to Open Source Robotics Foundation<ref>{{Cite news|url=https://spectrum.ieee.org/automaton/robotics/robotics-software/darpa-robotics-challenge-simulation-software-open-source-robotics-foundation|title=DARPA Awards Simulation Software Contract to Open Source Robotics Foundation|last=|first=|date=|work=|access-date=|archive-url=|archive-date=|dead-url=}}</ref> On May 19, the First ROSCon is held in Saint Paul, MN<ref>{{Cite web|url=http://www.ros.org/news/2012/05/thanks-for-a-great-roscon-2012.html|title=Thanks for a great ROSCon 2012! - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> On September 4, 2012 the first book on ROS was published. ''ROS By Example'', by Patrick Goebel<ref>{{Cite web|url=http://www.ros.org/news/2012/09/new-book-ros-by-example.html|title=New Book: ROS by Example - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> The same month, the first commercial robot based on ROS released by [[Rethink Robotics]]<ref>{{Cite web|url=http://www.ros.org/news/2012/09/rethink-ros.html|title=Rethink ROS - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> Novermber 7 , 2012 marked the five year anniversary of ROS. <ref>{{Cite web|url=http://www.ros.org/news/2012/12/ros-five-years.html|title=ROS: Five Years - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> Finally, on December 3, 2012 ROS began running on every continent<ref>{{Cite web|url=http://www.ros.org/news/2012/12/ros-five-years.html|title=ROS: Five Years - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref>
===2013===
In February 2013 the Open Source Robotics Foundation became the primary maintainers of ROS.<ref>{{cite web|url=http://osrfoundation.org/blog/ros-at-osrf.html |title=Osrf - Ros @ Osrf |publisher=Osrfoundation.org |date=2013-02-11 |accessdate=2014-07-12}}</ref> On March 12th ROS Answers met the milestone of 10,000 answers.<ref>{{Cite web|url=http://www.ros.org/news/2013/03/10000-questions-asked-on-ros-answers-1.html|title=10,000 Questions Asked on ROS Answers|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref> ROSCon 2013 was hosted May 11th to May 12th in Stuttgart, Germany. On June 18th the Virtual Robotics Challenge (virtual stage of DARPA Robotics Challenge) took place. In August 2013, Willow Garage announced in a blog post<ref>{{cite web|url=http://www.willowgarage.com/blog/2013/08/21/willow-garage-employees-join-suitable-technologies |title=employees join Suitable Technologies |publisher=Willow Garage |date= |accessdate=2014-07-12}}</ref> it would be absorbed into another company owned by its founders, [[Suitable Technologies]]. On December 3rd Ros.org was released.<ref>{{cite web|url=http://www.ros.org/news/2013/12/a-new-wwwrosorg.html|title=A new www.ros.org - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
===2014===
[[ClearPath Robotics]] took over support responsibilities for the PR2 by Willow Garage on January 15th, 2014.<ref>{{Cite web|url=https://www.clearpathrobotics.com/2014/01/clearpath-welcomes-pr2/|title=Clearpath Welcomes PR2 to the Family|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref> On February 7th, 2014 ROS Answers reached a milestone 15,000 Questions.<ref>{{Cite web|url=http://www.ros.org/news/2014/02/ros-answers-reaches-15000-questions.html|title=ROS Answers Reaches 15,000 Questions|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref> The first international ROS user group meeting took place on June 6th called ROS Kong{{Citation needed}}. On September 1st, NASA announced the first robot to run ROS in space: Robotnaut 2 on the [[International Space Station]].<ref>{{cite web|url=http://www.ros.org/news/2014/09/ros-running-on-iss.html|title=ROS running on ISS - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref>
ROSCon 2014 took place in Chicago from September 12th to the 13ths. At ROSCon 2014, industry attendees surpassed academia attendees for the first time. <ref>{{cite web|url=https://roscon.ros.org/2014static_replacement/program/|title=Program - ROSCon 2014|website=roscon.ROS.org|access-date=12 December 2017}}</ref> On December 21st the first Korean ROS Meetup took place.<ref>[http://www.ros.org/news/2015/01/notes-from-the-first-korean-ros-users-meetup.html ROS meetup in Korea]</ref>
===2015===
On June 6th [[DARPA Robotics Challenge]] took place. Of which out of the 23 DRC Finals teams, 18 teams used ROS and 14 teams use Gazebo.<ref>{{Cite web|url=https://www.osrfoundation.org/ros-gazebo-at-the-drc-finals/|title=ROS and Gazebo at DRC Finals|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref> The first ROS Summer School reported on July 23rd.<ref>{{Cite web|url=http://www.ros.org/news/2015/08/report-from-first-ros-summer-school-in-china.html|title=Report from first ROS Summer School in China - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> ROSCon 2015 took place on October 3rd. ROS 2 Alpha is released on November 3rd. The eighth anniversary of ROS was on November 7th.<ref>{{cite web|url=http://www.ros.org/news/2015/12/ros-turns-8.html|title=ROS Turns 8 - ROS robotics news|website=www.ROS.org|access-date=12 December 2017}}</ref> On September 9th The Construct Launched ROS Development Studio. A cloud-based service for ROS to offer developers a place to develop and test robotics applications.<ref>{{cite web|url=http://www.theconstructsim.com/rds-ros-development-studio|dead-url=|title=ROS Development Studio}}</ref> The book ''Programming Robots with ROS: A Practical Introduction to the Robot Operating System'' is released on December 25th.<ref>{{cite web|url=http://shop.oreilly.com/product/0636920024736.do|title=Programming Robots with ROS: A Practical Introduction to the Robot Operating System|website=OReilly.com|access-date=12 December 2017}}</ref>
===2016===
The First Danish ROS meetup occurred on February 18th, 2016.<ref>{{Cite web|url=http://www.ros.org/news/2016/01/invitation-to-the-first-danish-ros-meetup.html|title=First Danish ROS Meetup|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref> The Second ROS Summer School in China was announced on July 22nd.<ref>{{Cite web|url=http://www.ros.org/news/2016/07/ros-summer-school-in-china-2016-july-22-28.html|title=ROS Summer School in China 2016, July 22-28 - ROS robotics news|website=www.ros.org|access-date=2018-11-24}}</ref> On September 1st, 2016, Construct<ref>{{Cite web|url=http://www.theconstructsim.com/construct-learn-develop-robots-using-ros/|title=The Construct}}</ref> launched the Robot Ignite Academy. The cloud-based academy uses ROS and Gazebo to teach ROS Online.<ref>{{Cite web|url=http://www.theconstructsim.com/construct-learn-develop-robots-using-ros/robotigniteacademy_learnros/|title=ROS Robot Ignite Academy}}</ref> OSRF announced collaboration with [[Toyota Research Institute]] on September 15th.<ref>{{Cite web|url=https://www.osrfoundation.org/were-collaborating-with-toyota-research-institute/|title=OSRF Collaboration with TRI|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref> On October 7th Bosch provided money for a full-time position at OSRF.<ref>{{Cite web|url=https://www.osrfoundation.org/bosch-research-and-technology-center-joins-forces-with-open-source-robotics-foundation-to-advance-the-development-of-ros/|title=Bosch Underwrites Full-Time Position at OSRF|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref>
===2017===
On March 21st 2017, the first Ukrainian ROS Meetup was held.<ref>{{Cite web|url=http://www.ros.org/news/2017/03/invitation-to-the-first-ukrainian-ros-meetup.html|title=First Ukrainian ROS Meetup|last=|first=|date=|website=|archive-url=|archive-date=|dead-url=|access-date=}}</ref> Open Source Robotics Foundation changed its name to Open Robotics on May 16th, 2017.<ref>{{cite web|url=https://www.osrfoundation.org/welcome-to-open-robotics/|title=Welcome to Open Robotics|website=www.OSRFoundation.org|access-date=12 December 2017}}</ref> The third ROS Summer School in China is announced on July 22nd.<ref>{{cite web|url=https://discourse.ros.org/t/ros-summer-school-in-china-july-22-28-2017/1977|title=ROS Summer School in China, July 22-28, 2017|website=Discourse.ROS.org|access-date=12 December 2017}}</ref> ROSCon 2017 took place on September 21st.<ref>{{cite web|url=https://roscon.ros.org/2017/#program|title=ROSCon 2017|website=roscon.ROS.org|access-date=12 December 2017}}</ref>
===2018===
ROS Melodic Morenia is released on May 23rd, 2018<ref>{{Cite web|url=http://wiki.ros.org/melodic|title=melodic - ROS Wiki|website=wiki.ros.org|access-date=2018-05-28}}</ref> The first ROS Developer Conference is held from July 7th to the 8th for developers to learn from experts on how to program with ROS.<ref>{{Cite web|url=http://www.theconstructsim.com/ros-developers-online-conference-2018-rdc-worldwide/|title=ROSDevCon2018}}</ref> On September 28th Microsoft ported Core ROS to Windows 10. ROSCon 2018 is held in Madrid on September 29th. Amazon launched AWS RoboMaker on November 26th, a cloud-based service to allow developers a place to develop and test robotic applications.
==Concepts and Construction==
|
