ROS 2 Iron Irwini Released!

ROS 2 Iron Irwini Released!

Happy World Turtle Day! Today the ROS 2 Release Team is happy to announce the ninth release of ROS 2: Iron Irwini (codenamed iron).

In addition to the official logo shared previously, we also have a new Iron Irwini turtlesim icon. We’ve also added : iron : (:iron:) and : irwini : (:irwini:) icons to ROS Discourse.

Iron Irwini is a standard support (i.e. not a long term support (LTS)) release that will be supported until November 2024. The distribution is primarily supported on the following platforms:

  • Tier 1 platforms:
    • Ubuntu 22.04 (Jammy): amd64 and arm64
    • Windows 10 (Visual Studio 2019): amd64
  • Tier 2 platforms:
    • RHEL 9: amd64
  • Tier 3 platforms:
    • macOS: amd64
    • Debian Bullseye: amd64

For more information about RMW implementations, compiler / interpreter versions, and system dependency versions see REP 2000.

Iron Irwini is feature packed and full of performance improvements. It’s worth going over the release notes and complete changelogs for core ROS 2 packages. Particularly it’s worth highlighting:

  • Improved DDS Discovery Options to allow users to specify how ROS 2 performs discovery of nodes.
  • Service Introspection which allows users to inspect the metadata and activities associated with an ongoing service.
  • Documentation for core python APIs, e.g. rclpy.
  • Events executor - a new experimental rclcpp executor with improved performance

If you are new to ROS, we recommend trying Iron Irwini on a Tier 1 supported platform. Check out the installation instructions and tutorials on docs.ros.org, and give Iron a spin! Should you run into any difficulties, please ask a question on ROS Answers.

ROS 2 is truly a community effort, and this could not have been better exemplified by our public beta testing of Iron Irwini over the past few weeks. Over 400 test cases were put through the ringer with several improvements identified along the way. It really helped “harden” the Iron distribution. The release team would like to extend a heartfelt thank you to all testers.

As a reminder, our T-shirt and swag campaign is still live to grab all the merch you can to support the release. All proceeds help support the Open Source Robotics Foundation (OSRF).

Thanks to the 239 contributors who contributed to this release through code changes, documentation, and testing.

See full list of contributors

0ljik

AIxWall

Abishalini Sivaraman

Abrar Rahman Protyasha

Achille Verheye

Aditya Pande

Agustin Alba Chicar

Akash

Alberto Soragna

Alejandro Hernández Cordero

Alexander Hans

Alexey Merzlyakov

Alexis Paques

Andrea Sorbini

Andreas Korb

AndreasR30

Andrew Symington

Antoine Van Malleghem

Aris Synodinos

Arjo Chakravarty

Arne Hitzmann

Artem Shumov

Audrow Nash

Ayush Ghosh

Barry Xu

Ben Wolsieffer

Bernardo Taveira

Blake Anderson

Boris Boutillier

Borong Yuan

Brian

Brian Chen

Carlos Andrés Álvarez Restrepo

Chen Lihui

Chris Lalancette

Chris Habecker

Christian Henkel

Christian Rauch

Christoph Hellmann Santos

Christophe Bedard

Christopher Wecht

Cristóbal Arroyo

Crola1702

Daisuke Nishimatsu

Daisuke Sato

Damien LaRocque

Dan Zimmerman

Daniel Reuter

DasRoteSkelett

David V. Lu!!

Deepanshu Bansal

DensoADAS

Dharini Dutia

El Jawad Alaa

Eloy Briceno

Emerson Knapp

Eric

Erki Suurjaak

EsipovPA

Esteban Martinena Guerrero

Esteve Fernandez

Esther S. Weon

Felipe Gomes de Melo

Felipe Neves

Felix Divo

Florian Vahl

Francisco Martín Rico

G.A. vd. Hoorn

Gary Bey

Geoffrey Biggs

George Stavrinos

Giorgio Pintaudi

Gonzo

Grey

GuiHome

Guilherme Henrique Galelli Christmann

Hans Christian Woithe

Haoru Xue

Hervé Audren

Hubert Liberacki

Hunter L. Allen

Ian Colwell

Ivan Santiago Paunovic

Ivan Zatevakhin

Jacob Bandes-Storch

Jacob Perron

James Smith

Jan Staschulat

Jaron

Jeffery Hsu

Jochen Sprickerhof

John Daktylidis

John Hurliman

Jonas Otto

Jorge Perez

José Maravalhas Silva

Jose Luis Rivero

Joseph Schornak

Joshua Hampp

Joshua Whitley

Juan Sebastian Dueñas

Júlia Marsal Perendreu

Kaju-Bubanja

Karmen Lu

Kartik Rana

Katherine Scott

Keisuke Shima

Keng12

Kenji Brameld

Kenji Miyake

Lee

Lei Liu

Lou Amadio

Luca Della Vedova

Lucas Wendland

Luke Schmitt

M. Fatih Cırıt

Marcel Zeilinger

Marco Bassa

Mario Domínguez López

Mario Prats

Martin Ganeff

Mateusz Szczygielski

Matthew Elwin

Maximilian Downey Twiss

Michael Babenko

Michael Carroll

Michael Jeronimo

Michael Orlov

Michael Wrock

Miguel Company

Mikel Rico Abajo

Minju

Minju, Lee

Mirco Colosi (CR/AAS3)

Misha Shalem

Nathan Wiebe Neufeldt

Nicholas Badyal

Nick Lamprianidis

Nikolai Morin

Nikolas Engelhard

OGAWA KenIchi

Omkar Kabadagi

Oscarchoi

Patrick Roncagliolo

Patrick Wspanialy

Paul Gesel

Pradyum Aadith

Przemysław Dąbrowski

RFRIEDM-Trimble

Ralph Lange

Ramon Wijnands

Red-Chevy

Rhys Mainwaring

Ricardo González

Richard Osterloh

Rin Iwai

Robert Haschke

Robotgir

Scott K Logan

Scott Mende

Sean Kelly

Sebastian Castro

Sebastian Freitag

Sergei Sergienko

Seulbae Kim

Shane Loretz

Shrijit Singh

Silvio Traversaro

Steve Macenski

Steve Nogar

Steven! Ragnarök

Takeshi Ishita

Taneli Korhonen

Tianyu Li

Tim Player

Timo Röhling

Timon Engelke

Tobias Neumann

Tomoya Fujita

Tony Najjar

Tony Peng

Tully Foote

Tyler Weaver

Voldivh

Welte

Will

William Woodall

Wilson J. Holmes

Xavier BROQUERE

Xenofon Karamanos

Yadunund

Yakumoo

Yannick Goumaz

Yasushi SHOJI

Youngjin Yun

Yuki Igarashi

andermi

andrei

bijoua29

cameron brown

carlossvg

chianfern

daniel-bogusz95

definitelyuncertain

eboasson

edgex004

guijan

hannes09

ipa-anm

iquarobotics

james-rms

juchajam

kagibson

krsche

kurshakuz

kylemarcey

mauropasse

methylDragon

mjbogusz

odra

quarkytale

ralwing

ricardo-manriquez

rshanor

sbiswas2607

schrodinbug

sheila-suppiah

talregev

uupks

vecf

wep21

ymski

yuraSomatic

Øystein Sture

兰陈昕

정찬희

はるまき

ROS wouldn’t exist if it weren’t for all of our wonderful package maintainers. We’ve asked all of the package maintainers who plan to have their code ready for release today, or soon, to prepare “iron flexes” :muscle:. In the comments below they’ll be posting brief updates about all of the new features they are bringing to Iron for their packages.

Finally, we’d like to announce the name of the next ROS 2 release for May 2024:
:partying_face: Jazzy Jalisco :partying_face:

25 Likes

Great work :+1:

Just FYI, I came up with slide deck to try to explain the new feature overview.

the original markdown presentation is here,

I will add EventExecutor later.

cheers,

6 Likes

Release notes New to Iron for Nav2:

  • A new MPPI controller for predictive trajectory planning,
  • A set of new path smoothing algorithms to support the spanning set of essential user needs,
  • A denoising costmap layer to remove localized noise as an alternative to pre-processing sensors which works well in some particular situations (but not all),
  • Complete error codes to all Nav2 internal actions to receive contextual information about task server failures for use in intelligent autonomy behavior,
  • Support for setting / loading / saving / looping waypoints in rviz,
  • Support for costmaps and occupancy grids in the Simple Python3 API,
  • A collision monitor providing analogous behavior provided by many safety lidar systems,
  • Newly minted plugin interfaces for Navigators to provide support for custom action types,
  • and many bug fixes, Behavior Tree node additions, and small features.

See the migration guide at Humble to Iron — Navigation 2 1.0.0 documentation for full detail.

backgroundless

5 Likes

Release Notes

Great “Thank You!” to all involved contributors: AM4283, Abhijeet Das Gupta, Abhijeet Dasgupta, Abishalini Sivaraman, AdamPettinger, Alaa, AlexWebb, AndyZe, Anthony Baker, Antoine Duplex, Ashton Larkin, Captain Yoshi, Carlo Rizzardo, Chance Cardona, Chris Thrasher, Christian Henkel, Cory Crean, Erik Holum, Ezra Brooks, Filip Sund, Gaël Écorchard, HX2003, Henning Kayser, Henry Moore, Heramb Modugula, J. Javan, Jafar, Jens Vanhooydonck, Jochen Sprickerhof, Jonathan Grebe, Joseph Schornak, Lucas Wendland, Marco Magri, Marq Rasmussen, Matej Vargovcik, Michael Ferguson, Michael Görner, Michael Marron, Michael Wiznitzer, Michael Wrock, Nathan Brooks, Pablo Iñigo Blasco, Paul Gesel, Peter David Fagan, Robert Haschke, Rufus Wong, Sameer Gupta, Sarah Nix, Scott K Logan, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Simon Schmeisser, Solomon Wiznitzer, Stephanie Eng, Tyler Weaver, V Mohammed Ibrahim, Vatan Aksoy Tezer, Will, Wyatt Rees, Yadu, azalutsky, cambel, light-tech, tbastiaens-riwo, werner291

For trying out the latest changes and getting involved, join us for the World MoveIt Day Hackathon on June 8th!

9 Likes

ROS Iron docker images are now available on Dockerhub ! :whale2:

:warning: Note that the latest tag for ROS still points to the latest LTS, i.e. Humble ros_base image.

Simply run this command to download and start a session in a Iron container:

docker run -it ros:iron

ROS Iron images are available for the following platforms/architectures:

Ubuntu Jammy:
  amd64
  arm64v8 (aarch64)

Check the Docker Library manifest here for more details:

The desktop image (amd64 only) is available on the ‘osrf/ros’ docker hub profile

New tags are also available to provide additional variants, aka:

  • perception
  • simulation
  • desktop-full.

As always:

Happy containing!

Shout-out @marguedas for pushing this across the finish line with the recent sync. :checkered_flag:

2 Likes

image

The Open-RMF team is happy to announce support for Iron Irwini :robot: :elevator: :door: :iron:

The release comes with several bug fixes and it’s easier than ever to get started with Open-RMF as all core packages can now be installed with a single command sudo apt install ros-iron-rmf-dev (remember to do an apt update prior).

As part of the release, significant effort went into aligning Open-RMF’s versioning and release practices with those in ROS 2. An outcome of this is the ability to do more frequent releases across rolling :rolling_head: , iron :irwini: and humble :hawksbill: . Moving forward, the team will aim to make patch releases of Open-RMF packages roughly monthly :tada:
We’ll also be doing source releases eg. release-iron-230608 but binary installation is now the recommended default :smile:

Check out our updated documentation for more details on installation, running demonstrations and changes to development & release process.

We’d love to see more contributions towards development and documentation from the community! Checkout our Project board for tickets.

For any issues, questions or suggestions, drop a note on our Discussions board.

1 Like

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