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
New features - not in ROS1 MRS yet
MRS UAV Modules
Robofly
Sensor drivers
Gazebo + PX4 SITL
MRS Course tasks
Octomap mapping & planning
UVDAR
Documentation
Buildfarm
Core example packages
PX4 + Mavros
Precise Landing
Computer vision examples
Summer School task (for 2026)
MRS Apptainer
MRS Docker
Portainer system
Flight Forge
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)
Third-party package refactoring decision making tree

Does it perform well?

Let's refactor the ROS1 version into ROS2 ourselves

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

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

Let's adopt the ROS2 branch

Do we need the changes?

Is it better to merge them into the ROS2 version?

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

Let's refactor the ROS1 version into ROS2 ourselves

Well then?

Is there a ROS2 branch?

Refactor to ROS2 ourselves

Replace it with something better

Do we have our own changes to the ROS1 branch

START

Do we want to keep the software?

Test the ROS2 branch as it is

Check if the ROS2 branch needs the changes as well

CPP

  • edge detector

Python

  • blob detector

ROS Kalibr docker

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

PX4 SITL

  • updgrade to the newest reasonable PX4 version

MRS UAV Status

  • Acquisition node
  • Presentation node

MRS DJI Tello API

  • refactor

MRS UAV testing

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

CPP

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

Python

  • sweeping generator

MRS Errorgraph

  • refactor
  • incorporate

Minor points:

  • proper handling of UTM zones

Safety area manager

  • refactor
  • incorporate

F4F

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 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)
  • 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

HW Api

  • plugin interface

  • example plugin

  • plugin manager

  • doxygen

  • took me 1 day

MRS UAV Deployment

  • refactor config files
  • example tmux sessions

MRS Coppelia simulation

  • I would keep it as an example
  • refactor
  • refactor ROS bindings and integration
  • udpate examples

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

F4F

Octomap server

  • refactor
  • merge changes from SPRIND

F4F

Octomap planner

  • refactor
  • merge changes from SPRIND
  • refactor ROS bindings and integration
  • udpate examples

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 bridge (Hugues)

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

MRS Octomap Tools

  • refactor
  • is it used?

SubT Planning lib

  • refactor
  • might not contain ROS

F4F

MRS Rviz plugins

  • not essential, should be simple
  • refactor

Unreal sim package

  • Simulator node
  • HW APi

CI Scripts

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

Buildfarm

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

F4F

Drone spawner

  • keep the functionalities
  • dockerization?

Gazebo

  • refactor the metapackage
    • launch files
    • configs

Libcamera ROS driver

  • there should be official ROS2 branch
  • rafactor

ICM IMU driver

  • refactor

PX4 Hw API

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

MRS UAV Development

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

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

  • verify
  • try the Zenoh RMW, which should work like the ROS1 with roscore

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

Mavros

  • does it exists in Jazzy?
  • or should we implement our own?

Libcamera driver library

  • refactor (probably stays the same)

mrs_msgs

  • refactor
  • building of doxygen docs

External dependencies

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

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 Shell Additions

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

F4F utilizes and deploys these features in an industrial setting

F4F

Linux Setup (Ubuntu 24.04)

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

START

Gazebo custom drone example

  • refactor

Sensor drivers (px4_sitl_gazebo)

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

Gazebo common & extra resources

  • custom plugins
  • custom worlds

Stacks

  • refactor/create example stacks

F4F

Hailo AI adapter

  • refactor
  • update base image builder

Object tracking example

  • refactor

F4F documentation

  • update

MRS UAV Gazebo testing

  • refactor

Portainer stacks

  • refactor

Basic robofly example

  • basic example

F4F software installation guide

  • update
  • Who is going to do it?
  • Are there any dependencies to real sensor drivers?

MRS Utils

  • refactor

MRS PCL Tools

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

MRS Bumper

  • refactor

MRS Modulees msgs

  • refactor
  • building of doxygen docs

F4F

UVDAR Core

  • Refactor

UVDAR Gazebo plugin

  • Refactor

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

Landing controller

  • refactor

Landing estimator

  • refactor

Livox360 driver

  • does it have a newer ROS2 branch?
  • refactor

Luxonis driver

  • does it have a newer ROS2 branch?
  • refactor

Bluefox driver

  • does it have a newer ROS2 branch?

  • refactor

Basler driver

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

Realsense driver

  • does it have a newer ROS2 branch?
  • refactor

Ouster driver

  • does it have a newer ROS2 branch?
  • refactor

F4F

POINT LIO + core

  • does it have a newer ROS2 branch?
  • refactor

Optic flow

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

super low priority

LIOSAM + core

  • does it have a newer ROS2 branch?
  • refactor

Hector + core

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

MRS Serial

  • refactor
  • important for RTK

MRS LLCP

  • refactor

Robofly's UVDAR

  • rafactor

UVDAR calibration routine

  • Refactor

F4F

OpenVins + Core

  • does it have a newer ROS2 branch?
  • refactor

Trajectory loader

  • refactor

Path loader

  • refactor

F4F

F4F

F4F

ALOAM + core

  • does it have a newer ROS2 branch?
  • refactor

F4F

Gazebo simulation package

  • refactor

April tag

  • find and adapt ROS2 version

RPLidar driver

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

Camera base

  • does it have an equivalent in ROS2
  • refactor
  • build from scratch without the MRS UAV System with just the Multirotor Sim lib
  • remove Gazebo
  • update and refactor
  • remove Gazebo
  • update and refactor

Summer school simulation and wrappers

  • update and refactor

Summer school real-world deployment

  • update and refactor

MRS UAV Estimators

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

MRS UAV Autostart

  • Refactor
  • Tests

Trajectory generation

  • Refactor
  • Tests

MRS UAV Controllers

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

MRS Errorgraph viewer

  • refactor
  • incorporate

Disarmin

  • imlement disarming key exchange

Use behavioral trees

  • check how does it work, if it is useful
  • Dan3 from F4F reimplemented automatic start using it

Diagnostics manager?

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

Controller timeouting

MRS UAV Managers

  • Estimation manager (4 days)
  • Control manager
  • UAV manager
  • Transform manager (1 day)
  • Constraint manager
  • Gain manager
  • Tests
  • bulding of doxygen docs

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)
  • tests
    • standalone tests
    • MRS system wide tests

NLOPT solver ROS wrapper

  • refactor

MRS UAV Trackers

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