Merge branch 'rolling' into 6006-intermediate-tutorial-tf2-xml-yml-launch

kscottz · web-flow · commit 766849bf5380 · 2025-12-11T10:16:03.000-08:00
diff --git a/.gitignore b/.gitignore
@@ -4,3 +4,4 @@ _build/
 .vscode/
 __pycache__
 ros2doc/
+.DS_Store
diff --git a/source/Concepts.rst b/source/Concepts.rst
@@ -15,8 +15,3 @@ Related Content
 ^^^^^^^^^^^^^^^
 
 :doc:`See the ROS 2 citations <Citations>` for more explanation of concepts and citable resources.
-
-For a brief video introduction to ROS 2, see this community contributed content:
-
-* `Getting started with ROS Part 1: Nodes, Parameters and Topics <https://youtu.be/46TPAKXBOF8>`_
-* `Getting started with ROS Part 2: Services and Actions <https://youtu.be/keZAJ83eEoM>`_
diff --git a/source/Concepts/Intermediate/About-RQt.rst b/source/Concepts/Intermediate/About-RQt.rst
@@ -81,7 +81,3 @@ Further Reading
 * ROS 2 Discourse `announcement of porting to ROS 2 <https://discourse.ros.org/t/rqt-in-ros2/6428>`__)
 * `RQt for ROS 1 documentation <https://wiki.ros.org/rqt>`__
 * Brief overview of RQt (from `a Willow Garage intern blog post <http://web.archive.org/web/20130518142837/http://www.willowgarage.com/blog/2012/10/21/ros-gui>`__)
-
-  .. raw:: html
-
-     <iframe width="560" height="315" src="https://www.youtube-nocookie.com/embed/CyP9wHu2PpY" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
diff --git a/source/How-To-Guides/Using-Variants.rst b/source/How-To-Guides/Using-Variants.rst
@@ -15,7 +15,7 @@ In addition to the official variants, there may be metapackages for specific ins
 Adding variants
 ---------------
 
-Additional variants that are of general use to the ROS community can be proposed by contributing an update to `REP-2001 via pull request <https://github.com/ros-infrastructure/rep/blob/master/rep-2001.rst>`_ describing the packages included in the new variant.
+Additional variants that are of general use to the ROS community can be proposed by contributing an update to `REP-2001 via pull request <https://github.com/openrobotics/reps/blob/main/_posts/rep-2001.md>`_ describing the packages included in the new variant.
 Institution and robot specific variants can be published directly by their respective maintainers and no update to REP-2001 is required.
 
 Creating project-specific variants
diff --git a/source/Releases/Release-Lyrical-Luth.rst b/source/Releases/Release-Lyrical-Luth.rst
@@ -39,6 +39,12 @@ TODO
 New features in this ROS 2 release
 ----------------------------------
 
+``rosidl_python``
+^^^^^^^^^^^^^^^^^
+
+Passing in Python ``set`` objects into array or sequence fields is now deprecated.
+Instead pass in something that implements ``collections.abc.Sequence`` most commonly a ``list``, ``tuple``, or a ``numpy.ndarray``. To be removed in ROS M.
+
 Development progress
 --------------------
 
diff --git a/source/The-ROS2-Project/Governance.rst b/source/The-ROS2-Project/Governance.rst
@@ -37,6 +37,14 @@ The day-to-day operations of the ROS PMC include managing the members and commit
 
 For more details about the ROS PMC, please see the `Charter for the ROS Project <https://osralliance.org/staging/wp-content/uploads/2024/03/ros_project_charter.pdf>`__.
 
+ROS Project Management Committee (PMC) Meetings
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Community members are encouraged to observe the ROS 2 PMC meetings and submit agenda items via a PMC constituent.
+To add an item to the ROS PMC agenda please contact one of the ROS PMC constituents list below.
+ROS PMC meetings are conducted using Zoom and presently occur every Tuesday at 17:00 UTC (09:00 PST / 12:00 EST / 18:00 CET / +1 02:00 JST).
+To join the ROS PMC meeting please use the `link available in our official OSRA Google calendar <https://calendar.google.com/calendar/u/0/embed?src=agf3kajirket8khktupm9go748@group.calendar.google.com&ctz=Etc%2FUTC>`__.
+
 Current ROS PMC Constituents
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
diff --git a/source/The-ROS2-Project/ROSCon-Content.rst b/source/The-ROS2-Project/ROSCon-Content.rst
@@ -10,9 +10,132 @@ ROSCon Talks
 The following `ROSCon <https://roscon.ros.org>`__ talks have been given on ROS 2 and provide information about the workings of ROS 2 and various demos:
 
 .. tabs::
+  .. group-tab:: 2025
+    .. list-table::
+       :header-rows: 1
 
-  .. group-tab:: 2024
+       * - Title
+         - Links
+       * - Advancing Robot Learning with ROS 2
+         - `video <https://vimeo.com/1136158846>`__
+       * - ROS Project Update
+         - `video <https://vimeo.com/1136205502>`__
+       * - ros-controls Project Update
+         - `video <https://vimeo.com/1136205235>`__
+       * - On Use of Nav2 Route Server
+         - `video <https://vimeo.com/1136164030>`__
+       * - Seeing is Believing: Enhancing Robot Acceptance with Perception-Aware ...
+         - `video <https://vimeo.com/1136205031>`__
+       * - ⚡In-advance Lightning Talks⚡
+         - `video <https://vimeo.com/1136158488>`__
+       * - rmw_what❓ Implementing the ROS 2 Middleware Interface
+         - `video <https://vimeo.com/1136204122>`__
+       * - Zenoh Strikes Back: From a New Hope to Tier-1
+         - `video <https://vimeo.com/1136377715>`__
+       * - From DDS to Zenoh: Migrating the Dexory Autonomy ROS Stack—Configurati...
+         - `video <https://vimeo.com/1136375669>`__
+       * - Enhancing ROS 2 Communications: What's New in Fast DDS v3
+         - `video <https://vimeo.com/1136157825>`__
+       * - Agnocast: A ROS 2-Compatible Middleware Enabling True Zero-Copy IPC ...
+         - `video <https://vimeo.com/1136159023>`__
+       * - Replay Testing: Fast, Iterative Robotics Testing
+         - `video <https://vimeo.com/1136204393>`__
+       * - Rtest - Reliable ROS 2 Unit Tests Framework
+         - `video <https://vimeo.com/1136205163>`__
+       * - Formally Verifying Robot Behavior with Statistical Model Checking
+         - `video <https://vimeo.com/1136157972>`__
+       * - Cloudini: the Pointcloud Compression Library That You Missed in Your Life
+         - `video <https://vimeo.com/1136159131>`__
+       * - Unlock FFmpeg in ROS 2: A Flexible Audio/Video Pipeline with...
+         - `video <https://vimeo.com/1136204514>`__
+       * - Smarter Vision Pipelines for ROS 2: Compress, Transport, and Sync at Scale
+         - `video <https://vimeo.com/1136204802>`__
+       * - SWAGGER: Sparse WAypoint Graph Generation for Efficient Routing
+         - `video <https://vimeo.com/1136204717>`__
+       * - Mapping Together: Collaborative SLAM for Distributed Robot Fleets
+         - `video <https://vimeo.com/1136163914>`__
+       * - Roadmap-Explorer: A fast and reliable robot exploration module
+         - `video <https://vimeo.com/1136177427>`__
+       * - Peer-2-Peer Agriculture Robotics Communication, Planning, Coverage ...
+         - `video <https://vimeo.com/1136163436>`__
+       * - From Sensors to Sensei: Mastering ROS Hardware with Analog Devices
+         - `video <https://vimeo.com/1136158125>`__
+       * - Help Me with the Bags: Quick & Easy ROS 2 Data Handling
+         - `video <https://vimeo.com/1136377079>`__
+       * - Open-source robotics observability at scale!
+         - `video <https://vimeo.com/1136163245>`__
+       * - Simplifying Diagnostics: A Ready to Use Robot Webserver
+         - `video <https://vimeo.com/1136204915>`__
+       * - Detecting Complex Events in ROS Data
+         - `video <https://vimeo.com/1136157744>`__
+       * - ROS 2 logging subsystem and alternative syslog implementation
+         - `video <https://vimeo.com/1136772381>`__
+       * - Traceability System for Autonomous Robots
+         - `video <https://vimeo.com/1136377674>`__
+       * - ⚡Lightning Talks 1⚡
+         - `video <https://vimeo.com/1136163574>`__
+       * - Open-RMF Project Update
+         - `video <https://vimeo.com/1136163138>`__
+       * - Robots at Your Service: Deploying Open-RMF in Singapore’s Hospitality Industry
+         - `video <https://vimeo.com/1136206211>`__
+       * - Optimizing Hospital Robotics Deployments with Open RMF
+         - `video <https://vimeo.com/1136163298>`__
+       * - Orchestrating Interoperable Indoor Robots at Scale with Open-RMF...
+         - `video <https://vimeo.com/1136163354>`__
+       * - Workflows for multi-agent orchestration
+         - `video <https://vimeo.com/1136377685>`__
+       * - Gazebo Project Update
+         - `video <https://vimeo.com/1136158328>`__
+       * - Infrastructure Project Update
+         - `video <https://vimeo.com/1136158416>`__
+       * - ⚡ Lightning Talks 2⚡
+         - `video <https://vimeo.com/1136158629>`__
+       * - Our Ten Most Common ROS Questions Answered
+         - `video <https://vimeo.com/1136376218>`__
+       * - Practical guide for ROS 2 on Windows
+         - `video <https://vimeo.com/1136377428>`__
+       * - Solving ROS package management with Pixi and RoboStack
+         - `video <https://vimeo.com/1136377632>`__
+       * - Escape Velocity: Smarter, Cleaner ROS 2 Launch Patterns
+         - `video <https://vimeo.com/1136376252>`__
+       * - Build, Iterate, Deploy - A Modular ROS 2 Workflow that Scales
+         - `video <https://vimeo.com/1136370578>`__
+       * - Toward Scalable Collaborative Robot Controllers: Internalizing ROS 2 with Zenoh
+         - `video <https://vimeo.com/1136204650>`__
+       * - Motions Made Easy: Simplifying Repetitive Robot Motions
+         - `video <https://vimeo.com/1136163966>`__
+       * - Running ROS natively on an industrial robot's control box
+         - `video <https://vimeo.com/1136205077>`__
+       * - ros2_control goes Industrial
+         - `video <https://vimeo.com/1136205404>`__
+       * - Transforming Robotics with Auto Bots from Outer Space
+         - `video <https://vimeo.com/1136204579>`__
+       * - Real-Time Meets Cloud Native - ROS 2 on RTOS and Linux with Kubernetes
+         - `video <https://vimeo.com/1136204466>`__
+       * - ROS 2: The Backbone for Physical AI
+         - `video <https://vimeo.com/1136205583>`__
+       * - From Simulation to Soil: Lessons from a ROS 2-Powered Tractor
+         - `video <https://vimeo.com/1136158260>`__
+       * - Easy ROS-based AI Robot Development with genesis/libtorch
+         - `video <https://vimeo.com/1136370681>`__
+       * - PlanSys2, the ROS 2 Planning System: Past, present and future
+         - `video <https://vimeo.com/1136377384>`__
+       * - Building Foundation Models for Generalist Robots: Insights ...
+         - `video <https://vimeo.com/1136370637>`__
+       * - Introducing rclrs: the ROS 2 client library for Rust
+         - `video <https://vimeo.com/1136376117>`__
+       * - Realistic Terrain Simulation in Gazebo
+         - `video <https://vimeo.com/1136377469>`__
+       * - Evaluation of ROS 2 Simulators 2025
+         - `video <https://vimeo.com/1136157883>`__
+       * - Ray-Tracing Everywhere: Vendor Agnostic Ray Tracing in Gazebo
+         - `video <https://vimeo.com/1136163508>`__
+       * - Introducing the new ROS simulation standard
+         - `video <https://vimeo.com/1136376172>`__
+       * - From Off-the-Shelf Drones to Research Platforms
+         - `video <https://vimeo.com/1136158052>`__
 
+  .. group-tab:: 2024
     .. list-table::
        :header-rows: 1
 
diff --git a/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.rst b/source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.rst
@@ -94,7 +94,7 @@ Inside the ``ros2_ws/src/bag_recorder_nodes/src`` directory, create a new file c
 
         writer_->open("my_bag");
 
-        auto subscription_callback_lambda = [this](std::shared_ptr<rclcpp::SerializedMessage> msg){
+        auto subscription_callback_lambda = [this](std::shared_ptr<const rclcpp::SerializedMessage> msg){
           rclcpp::Time time_stamp = this->now();
 
           writer_->write(msg, "chatter", "std_msgs/msg/String", time_stamp);
@@ -144,7 +144,7 @@ We will write data to the bag in the callback.
 
 .. code-block:: C++
 
-        auto subscription_callback_lambda = [this](std::shared_ptr<rclcpp::SerializedMessage> msg){
+        auto subscription_callback_lambda = [this](std::shared_ptr<const rclcpp::SerializedMessage> msg){
           rclcpp::Time time_stamp = this->now();
 
           writer_->write(msg, "chatter", "std_msgs/msg/String", time_stamp);
@@ -162,7 +162,7 @@ We do this for two reasons.
 
 .. code-block:: C++
 
-        auto subscription_callback_lambda = [this](std::shared_ptr<rclcpp::SerializedMessage> msg){
+        auto subscription_callback_lambda = [this](std::shared_ptr<const rclcpp::SerializedMessage> msg){
 
 Within the subscription callback, the first thing to do is determine the time stamp to use for the stored message.
 This can be anything appropriate to your data, but two common values are the time at which the data was produced, if known, and the time it is received.
diff --git a/source/Tutorials/Advanced/Simulators/Webots/Code/MyRobotDriver.cpp b/source/Tutorials/Advanced/Simulators/Webots/Code/MyRobotDriver.cpp
@@ -25,7 +25,7 @@ void MyRobotDriver::init(
 
   cmd_vel_subscription_ = node->create_subscription<geometry_msgs::msg::Twist>(
       "/cmd_vel", rclcpp::SensorDataQoS().reliable(),
-      [this](const geometry_msgs::msg::Twist::SharedPtr msg){
+      [this](const geometry_msgs::msg::Twist::ConstSharedPtr msg){
         this->cmd_vel_msg.linear = msg->linear;
         this->cmd_vel_msg.angular = msg->angular;
       }
diff --git a/source/Tutorials/Advanced/Simulators/Webots/Code/ObstacleAvoider.cpp b/source/Tutorials/Advanced/Simulators/Webots/Code/ObstacleAvoider.cpp
@@ -7,26 +7,26 @@ ObstacleAvoider::ObstacleAvoider() : Node("obstacle_avoider") {
 
   left_sensor_sub_ = create_subscription<sensor_msgs::msg::Range>(
       "/left_sensor", 1,
-      [this](const sensor_msgs::msg::Range::SharedPtr msg){
+      [this](const sensor_msgs::msg::Range::ConstSharedPtr msg){
         return this->leftSensorCallback(msg);
       }
   );
 
   right_sensor_sub_ = create_subscription<sensor_msgs::msg::Range>(
       "/right_sensor", 1,
-      [this](const sensor_msgs::msg::Range::SharedPtr msg){
+      [this](const sensor_msgs::msg::Range::ConstSharedPtr msg){
         return this->rightSensorCallback(msg);
       }
   );
 }
 
 void ObstacleAvoider::leftSensorCallback(
-    const sensor_msgs::msg::Range::SharedPtr msg) {
+    const sensor_msgs::msg::Range::ConstSharedPtr msg) {
   left_sensor_value = msg->range;
 }
 
 void ObstacleAvoider::rightSensorCallback(
-    const sensor_msgs::msg::Range::SharedPtr msg) {
+    const sensor_msgs::msg::Range::ConstSharedPtr msg) {
   right_sensor_value = msg->range;
 
   auto command_message = std::make_unique<geometry_msgs::msg::Twist>();
diff --git a/source/Tutorials/Advanced/Simulators/Webots/Code/ObstacleAvoider.hpp b/source/Tutorials/Advanced/Simulators/Webots/Code/ObstacleAvoider.hpp
@@ -9,8 +9,8 @@ class ObstacleAvoider : public rclcpp::Node {
   explicit ObstacleAvoider();
 
 private:
-  void leftSensorCallback(const sensor_msgs::msg::Range::SharedPtr msg);
-  void rightSensorCallback(const sensor_msgs::msg::Range::SharedPtr msg);
+  void leftSensorCallback(const sensor_msgs::msg::Range::ConstSharedPtr msg);
+  void rightSensorCallback(const sensor_msgs::msg::Range::ConstSharedPtr msg);
 
   rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
   rclcpp::Subscription<sensor_msgs::msg::Range>::SharedPtr left_sensor_sub_;
diff --git a/source/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.rst b/source/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.rst
@@ -263,5 +263,3 @@ Related content
 ---------------
 
 The turtlesim package can be found in the `ros_tutorials <https://github.com/ros/ros_tutorials/tree/{REPOS_FILE_BRANCH}/turtlesim>`_ repo.
-
-`This community contributed video <https://youtu.be/xwT7XWflMdc>`_ demonstrates many of the items covered in this tutorial.
diff --git a/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.rst b/source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.rst
@@ -153,6 +153,80 @@ For example, you can find the count of clients and servers for the ``/clear`` se
    Clients count: 0
    Services count: 1
 
+4.1 ros2 service info --verbose
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+For more detailed information about a service, you can append the ``--verbose`` (or ``-v``) option to the ``info`` command:
+
+.. code-block:: console
+
+  $ ros2 service info --verbose <service_name>
+
+For example: you can get verbose information about the ``/clear`` service:
+
+.. code-block:: console
+
+  $ ros2 service info --verbose /clear
+
+This will return additional information including the node name and namespace of the service server, as well as the underlying middleware (RMW) implementation details.
+An important information for Developers that the ``Endpoint count`` will be 2 for DDS based RMW implementations (connextdds, cyclone, fastrtps) because DDS creates two endpoints (one for request and one for response) for each service server.
+
+.. code-block:: console
+
+    Type: std_srvs/srv/Empty
+    Clients count: 0
+    Services count: 1
+    Node name: turtlesim
+    Node namespace: /
+    Service type: std_srvs/srv/Empty
+    Service type hash: RIHS01_5888399dedec5ccc85ea6451949fd2c9f97bfdf963f9a588821639fcd31b5d19
+    Endpoint type: SERVER
+    Endpoint count: 2
+    GIDs:
+    - Request Reader : 01.0f.93.f0.07.92.53.47.00.00.00.00.00.00.13.04
+    - Response Writer : 01.0f.93.f0.07.92.53.47.00.00.00.00.00.00.14.03
+    QoS profiles:
+    - Request Reader :
+          Reliability: RELIABLE
+          History (Depth): KEEP_LAST (10)
+          Durability: VOLATILE
+          Lifespan: Infinite
+          Deadline: Infinite
+          Liveliness: AUTOMATIC
+          Liveliness lease duration: Infinite
+    - Response Writer :
+          Reliability: RELIABLE
+          History (Depth): KEEP_LAST (10)
+          Durability: VOLATILE
+          Lifespan: Infinite
+          Deadline: Infinite
+          Liveliness: AUTOMATIC
+          Liveliness lease duration: Infinite
+
+Where as for non-DDS based RMW implementations like ``rmw_zenoh_cpp``, the ``Endpoint count`` will be 1 because it uses a single endpoint for both request and response.
+
+.. code-block:: console
+
+    Type: std_srvs/srv/Empty
+    Clients count: 0
+    Services count: 1
+    Node name: turtlesim
+    Node namespace: /
+    Service type: std_srvs/srv/Empty
+    Service type hash: RIHS01_5888399dedec5ccc85ea6451949fd2c9f97bfdf963f9a588821639fcd31b5d19
+    Endpoint type: SERVER
+    Endpoint count: 1
+    GID: 59.b0.ea.78.57.3c.52.b4.c6.e9.af.44.22.3d.7c.f5
+    QoS profile:
+      Reliability: RELIABLE
+      History (Depth): KEEP_LAST (10)
+      Durability: VOLATILE
+      Lifespan: Infinite
+      Deadline: Infinite
+      Liveliness: AUTOMATIC
+      Liveliness lease duration: Infinite
+
+If you want to learn more about different RMW implementations, refer to the :doc:`About Different Middleware Vendors <../../../Concepts/Intermediate/About-Different-Middleware-Vendors>` concept.
+
 5 ros2 service find
 ^^^^^^^^^^^^^^^^^^^
 
diff --git a/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst b/source/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.rst
@@ -184,9 +184,11 @@ This allows the installed files to be changed by changing the files in the ``sou
 
     .. code-block:: console
 
-      $ colcon build --symlink-install --merge-install
+      $ colcon build --merge-install
 
     Windows doesn't allow long paths, so ``merge-install`` will combine all the paths into the ``install`` directory.
+    On Windows, you need special permissions to create symbolic links, so ``--symlink-install`` is not used by default.
+    To use it, you need to run the command as administrator or enable developer mode in system settings.
 
 .. tip::
 
diff --git a/source/Tutorials/Demos/Intra-Process-Communication.rst b/source/Tutorials/Demos/Intra-Process-Communication.rst
diff --git a/source/Tutorials/Demos/images/intra-process-demo-pipeline-inter-process.png b/source/Tutorials/Demos/images/intra-process-demo-pipeline-inter-process.png
diff --git a/source/Tutorials/Demos/images/intra-process-demo-pipeline-single-window.png b/source/Tutorials/Demos/images/intra-process-demo-pipeline-single-window.png
diff --git a/source/Tutorials/Demos/images/intra-process-demo-pipeline-two-windows-copy.png b/source/Tutorials/Demos/images/intra-process-demo-pipeline-two-windows-copy.png
diff --git a/source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.rst b/source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.rst

Original file line number	Diff line number	Diff line change
`@@ -25,7 +25,7 @@ void MyRobotDriver::init(`
`25`	`25`
`26`	`26`	`cmd_vel_subscription_ = node->create_subscription<geometry_msgs::msg::Twist>(`
`27`	`27`	`"/cmd_vel", rclcpp::SensorDataQoS().reliable(),`
`28`		`- [this](const geometry_msgs::msg::Twist::SharedPtr msg){`
	`28`	`+ [this](const geometry_msgs::msg::Twist::ConstSharedPtr msg){`
`29`	`29`	`this->cmd_vel_msg.linear = msg->linear;`
`30`	`30`	`this->cmd_vel_msg.angular = msg->angular;`
`31`	`31`	`}`