NO
YES
NO
NO
YES
YES
NO
YES
ROS2 it is
ROS1 it is
YES
NO
YES
NO
ROS2 transition - MRS UAV System diagram
MRS UAV Core
MRS UAV Modules
Robofly
Gazebo + PX4 SITL
New features - not in ROS1 MRS yet
Octomap mapping & planning
UVDAR
Documentation
Buildfarm
Core example packages
Computer vision examples
MRS Apptainer
MRS Docker
Portainer system
Flight Forge
Third-party package refactoring decision making tree
Sensor drivers
MRS Course tasks
PX4 + Mavros
Precise Landing
Summer School task (for 2026)
Task 01 controller
Task 02 formation
Task 03 swarm
Months-worth of work (1 Tomas)
Weeks-woth of work (1 Tomas)
Days-worth of work (1 Tomas)

Well then?

Let's adopt the ROS2 version and update it with our changes

Let's refactor the ROS1 version into ROS2 ourselves

Let's refactor the ROS1 version into ROS2 ourselves

Let's adopt the ROS2 branch and fix it's problems

Optic flow

  • do we want to keep it?
  • refactor if yes

super low priority

POINT LIO + core

  • does it have a newer ROS2 branch?
  • refactor

F4F

MRS Serial

  • refactor
  • important for RTK

Gazebo custom drone example

  • refactor

MRS Utils

  • refactor

MRS Modulees msgs

  • refactor
  • building of doxygen docs

MRS PCL Tools

  • refactor
  • depends on Ouster, should we rethink this?

MRS LLCP

  • refactor

OpenVins + Core

  • does it have a newer ROS2 branch?
  • refactor

Drone spawner

  • keep the functionalities
  • dockerization?

Gazebo

  • refactor the metapackage
    • launch files
    • configs

Sensor drivers (px4_sitl_gazebo)

  • our custom fixes to the maagnetometer (did not use inclination)
  • custom fixes to lidar
  • custom fixes to GPS plugin

MRS Rviz plugins

  • not essential, should be simple
  • refactor

PX4 Hw API

  • Refactor
  • Test with a real drone first (if the comunications work as expected)

Realsense driver

  • does it have a newer ROS2 branch?
  • refactor

Ouster driver

  • does it have a newer ROS2 branch?
  • refactor

Livox360 driver

  • does it have a newer ROS2 branch?
  • refactor

Basler driver

  • does it have a newer ROS2 branch?
  • beware the multithreading problem
  • refactor

Bluefox driver

  • does it have a newer ROS2 branch?

  • refactor

Luxonis driver

  • does it have a newer ROS2 branch?
  • refactor

Landing estimator

  • refactor

Landing controller

  • refactor

UVDAR calibration routine

  • Refactor

Robofly's UVDAR

  • rafactor

F4F

Path loader (Tsoy)

  • refactor
  • remove Gazebo
  • update and refactor
  • remove Gazebo
  • update and refactor

Is there a ROS2 branch?

Do we have our own changes to the ROS1 branch

Check if the ROS2 branch needs the changes as well

Do we need the changes?

Gazebo simulation package

  • refactor

April tag

  • find and adapt ROS2 version
  • build from scratch without the MRS UAV System with just the Multirotor Sim lib

Trajectory loader (Tsoy)

  • refactor

Does it perform well?

Decide if we should fix the ROS2 branch or to port the ROS1 (that worked) to ROS2

Let's adopt the ROS2 branch

Is it better to merge them into the ROS2 version?

F4F

Summer school simulation and wrappers

  • update and refactor

Summer school real-world deployment

  • update and refactor

Refactor to ROS2 ourselves

Test the ROS2 branch as it is

Replace it with something better

START

Do we want to keep the software?

MRS UAV Shell Additions

  • will the waitFor macros gonna be needed in ROS2?
  • refactor

Rosbag Record (deleg. Tsoy Artyom)

  • how do our customisations from ROS1 apply?
    • rosbag record is killed when it cannot write to the disk anymore
    • it publishes and prints the datarate
  • investigate

RPLidar driver

  • does it have a newer ROS2 branch?
  • are we using it?
  • refactor

Camera base

  • does it have an equivalent in ROS2
  • refactor

F4F

Is FastRTSP good enough for images and pointclouds? (deleg. Tsoy Artyom)

  • not as bad as initially thought
  • try the Zenoh RMW, which should work like the ROS1 with roscore
  • FastRTSP is unusable for real-time performance reasons

LIOSAM + core

  • does it have a newer ROS2 branch?
  • refactor

Hector + core

  • does it have a newer ROS2 branch?
  • is anybody using it?
  • refactor

ROS2 examples (Jazzy)

  • param loading
  • Publisher
  • Subscriber
  • Timer
  • Service client
  • Service server
  • library
  • tests
    • unit test
    • integration test
  • Pluginlib
  • tf broadcaster
  • tf listener
  • clock managament
  • image transport
  • point cloud transport
  • actionlib
  • lifecycle nodes

MRS UAV Development

  • colon alias for ease of use
  • custom roscd alias
  • pre-sourcing of a selected workspace for speedup of the process

F4F

ALOAM + core

  • does it have a newer ROS2 branch?
  • refactor

F4F

Mavros

  • Mavros works

mrs_msgs

  • refactor
  • building of doxygen docs

External dependencies

  • ROS
  • Eigen
  • PCL (neccessary?)
  • OpenCV (neccessary?)

START

Linux Setup (Ubuntu 24.04)

  • nvim works
    • coc.nvim replaced ycm
    • ROS integration works
  • i3 works
  • tmux and other tools ok
  • automatic installation works

F4F utilizes and deploys these features in an industrial setting

F4F

Python

  • sweeping generator

NLOPT solver ROS wrapper

  • refactor

MRS UAV Controllers

  • MpcController
  • Se3Controller
  • Failsafe controller
  • Midair activation controller
  • Tests

MRS Coppelia simulation

  • I would keep it as an example
  • refactor

CPP

  • waypoint flier
  • waypoint flier simple
  • tracker plugin
  • controller plugin
  • estimator plugin (create)
  • pluginlib example

MRS UAV Trackers

  • Mpc tracker
  • Line tracker
  • Midair activation tracker
  • Landoff tracker
  • Joy tracker (keep?)
  • Speed tracker (keep?)
  • Tests

F4F

Trajectory generation

  • Refactor
  • Tests

RMW Zenoh

  • will it be better than FastDDS?
  • can it replace nimbro?
    • can it be configured per-topic?
  • does it perform with fast and large msgs?

ROS2 inter-robot communication

  • How to correctly configure remote access to remote ROS2 machine?
  • How to replace the old Nimbro setup with native ROS2 features

MRS UAV Status

  • Acquisition node
  • Presentation node

Octomap server

  • refactor
  • merge changes from SPRIND

MRS Octomap Tools

  • refactor
  • is it used?

Unreal sim package

  • Simulator node
  • HW APi

ROS2 bridge (Hugues)

  • Is it alive? Can it be used by people who want to run their ROS1 node agains the ROS2 system?
  • investigate

MRS UAV Autostart

  • Refactor
  • Tests

MRS UAV Estimators

  • AGL estimators
  • Altitude estimators
  • Heading estimators
  • Lateral estimators
  • State estimators
  • TODO unify healthcheck timers
  • Tests

MRS Bumper

  • refactor

Python

  • blob detector

CPP

  • edge detector

F4F

F4F software installation guide

  • update

ICM IMU driver

  • refactor

F4F documentation

  • update

PX4 SITL

  • updgrade to the newest reasonable PX4 version

Libcamera driver library

  • refactor (probably stays the same)

Octomap planner

  • refactor
  • merge changes from SPRIND

F4F

SubT Planning lib

  • refactor
  • might not contain ROS

UVDAR Gazebo plugin

  • Refactor

UVDAR Core

  • Refactor

ROS Kalibr docker

  • does Kalibr have a ROS2 version (it needs rosbag as an input)
  • refactor

MRS DJI Tello API

  • refactor

MRS UAV Deployment

  • refactor config files
  • example tmux sessions

F4F

Stacks

  • refactor/create example stacks
  • Who is going to do it?
  • Are there any dependencies to real sensor drivers?

Basic robofly example

  • basic example

Portainer stacks

  • refactor

Libcamera ROS driver

  • there should be official ROS2 branch
  • rafactor

Object tracking example

  • refactor

Hailo AI adapter

  • refactor
  • update base image builder

Gazebo common & extra resources

  • custom plugins
  • custom worlds

MRS Errorgraph viewer

  • refactor
  • incorporate

MRS Errorgraph

  • refactor
  • incorporate

Minor points:

  • proper handling of UTM zones

Diagnostics manager?

  • talk to Vojta and get an idea how it works
  • Maybe Matous should do it?

Safety area manager

  • refactor
  • incorporate

MRS UAV Gazebo testing

  • refactor

MRS Lib

  • param loader
  • publisher handler
  • service client handler
  • timer handler
  • timeout manager
  • lkf, ukf, dkf, nckf
  • profiiler
  • msg extractor
  • service client handler
  • subscriber handler
  • transform broadcaster
  • transformer
  • safety zone
  • IIR filter
  • batch visualizer (Afzal)
  • dynamic reconfigure
  • service server handler (matous)
  • aloamgarm + JLKF (Vasek)
    • tests
  • dynamic publisher (Matous)[1]
    • tests
  • .. the rest of the minor libs
  • building of doxygen docs
  • building a python lib for testing
    • how to export python libs?

  1. Probably rewrite from scratch↩︎

Colcon workspace

  • how does the mixin feature work

MRS UAV Managers

  • Estimation manager (4 days)
  • Control manager
  • UAV manager
  • Transform manager (1 day)
  • Constraint manager
  • Gain manager
  • Tests
  • bulding of doxygen docs
  • refactor ROS bindings and integration
  • udpate examples

Timeouting

  • controller timeouting
  • tracking timeouting

Disarming

  • imlement disarming key exchange
  • refactor ROS bindings and integration
  • udpate examples

F4F

F4F

F4F

MRS Docs

  • updating prerequisities about ROS
  • refactoring all example pages
  • refactoring pieces of ROS1-related code snippets

Cheatsheet

  • Update ROS-related stuff

Main github page

  • update when ready

MRS Internal wiki

  • update

CI Scripts

  • set of common scripts used by the buildfarm and by separate repositories' actions
  • update and refactor

HW Api

  • plugin interface

  • example plugin

  • plugin manager

  • doxygen

  • took me 1 day

TODO

  • Although the estimation manager checks for data on the "control input" topic, the particular estimator might be subscribing a wrong topic, therefore, you might miss the error of bad remapping
  • Mavros config needs different configs for Garmin with old (id 33) and new fw (id 0, pitch_270)
  • Batch visualizered topic are not shown in rviz

MRS UAV testing

  • the abstraction library
  • tests
    • example tests using the lib

MRS Multirotor simulator

  • refactor
    • dynamic reconfigure
    • rviz integration
  • add sensor noise (Michal Reiser)
  • test simtime generation
  • test max simulation rate
  • HW Api plugin (needs HW API)

Buildfarm

  • creating of ROS2 PPAs
  • revisiting bloom
  • refactoring dockerized compilation pipeline
  • on-push builds
  • test pipeline
  • coverage pipeline