# Projects

**URL:** https://discourse.openrobotics.org/c/projects/10.md

[Latest](https://discourse.openrobotics.org/latest.md) · [Categories](https://discourse.openrobotics.org/categories.md) · [Tags](https://discourse.openrobotics.org/tags.md)

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## [About the Projects category](https://discourse.openrobotics.org/t/about-the-projects-category/48674)

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**Author:** [@Nate\_Koenig](https://discourse.openrobotics.org/u/Nate_Koenig)\
**Replies:** 0

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A place for the community to discuss any projects they are (or would like to be) working on, from the smallest of tweaks to the largest of ventures.

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## [About the Projects category](https://discourse.openrobotics.org/t/about-the-projects-category/175)

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**Author:** [@tfoote](https://discourse.openrobotics.org/u/tfoote)\
**Replies:** 0\
**Last updated:** [April 22, 2016, 1:32am UTC](https://discourse.openrobotics.org/t/about-the-projects-category/175 "2016-04-22T01:32:51Z")

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Share what you’re working on, whether it’s something built with open-source robotics, or built for open-source robotics! Tell us about your awesome robot gardener project, so we can all build one, too, and finally have p…

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## [Micro-ROS telemetry: what a 100 Hz target does—and doesn’t—prove](https://discourse.openrobotics.org/t/micro-ros-telemetry-what-a-100-hz-target-does-and-doesn-t-prove/59079)

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**Author:** [@RoboTechJournal](https://discourse.openrobotics.org/u/RoboTechJournal)\
**Replies:** 1\
**Last updated:** [October 24, 2026, 8:58pm UTC](https://discourse.openrobotics.org/t/micro-ros-telemetry-what-a-100-hz-target-does-and-doesn-t-prove/59079 "2026-10-24T20:58:29Z")

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A nominal 100 Hz timer doesn’t prove deterministic end-to-end delivery, especially over Wi-Fi. Measure jitter, dropped messages and Agent outages on your actual hardware. RoboTech Journal’s ESP32-S3/STM32 example is illu…

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## [batchplan: batched motion planning for ROS 2, with a MoveIt plugin](https://discourse.openrobotics.org/t/batchplan-batched-motion-planning-for-ros-2-with-a-moveit-plugin/59144)

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**Author:** [@natsuku](https://discourse.openrobotics.org/u/natsuku)\
**Replies:** 0\
**Last updated:** [October 24, 2026, 8:56pm UTC](https://discourse.openrobotics.org/t/batchplan-batched-motion-planning-for-ros-2-with-a-moveit-plugin/59144 "2026-10-24T20:56:48Z")

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I’m building batchplan, an open-source motion planner, with a ROS 2 entry point: batchplan-ros. Give it several candidate grasp poses in one request; it solves IK and plans to them in a batch, then returns the shortest v…

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## [Conduit 3 sneak peek: drive robots and move arms from your iPhone](https://discourse.openrobotics.org/t/conduit-3-sneak-peek-drive-robots-and-move-arms-from-your-iphone/59063)

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**Author:** [@youtalk](https://discourse.openrobotics.org/u/youtalk)\
**Replies:** 2\
**Last updated:** [October 23, 2026, 7:20pm UTC](https://discourse.openrobotics.org/t/conduit-3-sneak-peek-drive-robots-and-move-arms-from-your-iphone/59063 "2026-10-23T19:20:03Z")

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Since its release in January, Conduit has turned iPhone, iPad and Mac into ROS 2 sensor publishers. Conduit 3 adds the other direction: it subscribes to your robot and drives it. Here is a first look at a work-in-progres…

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## [OpenAMRobot 2.0: open-source dual-arm mobile manipulator on ROS 2, rc.1 on 20 November](https://discourse.openrobotics.org/t/openamrobot-2-0-open-source-dual-arm-mobile-manipulator-on-ros-2-rc-1-on-20-november/58998)

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**Author:** [@Botshare\_Company](https://discourse.openrobotics.org/u/Botshare_Company)\
**Replies:** 1\
**Last updated:** [October 23, 2026, 7:03pm UTC](https://discourse.openrobotics.org/t/openamrobot-2-0-open-source-dual-arm-mobile-manipulator-on-ros-2-rc-1-on-20-november/58998 "2026-10-23T19:03:48Z")

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Hi everyone, A quick update on OpenAMRobot since the v0.0.1 release in July. We are now building OpenAMRobot 2.0: a general-purpose, open-source dual-arm mobile manipulator with an embodied AI software layer. The idea …

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## [Stop “Ghost Commands” on Bad Wi-Fi: ros2\_kinematic\_guard for \`/cmd\_vel\` safety](https://discourse.openrobotics.org/t/stop-ghost-commands-on-bad-wi-fi-ros2-kinematic-guard-for-cmd-vel-safety/54681)

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**Author:** [@zc\_Liu](https://discourse.openrobotics.org/u/zc_Liu)\
**Replies:** 12\
**Last updated:** [October 23, 2026, 3:59pm UTC](https://discourse.openrobotics.org/t/stop-ghost-commands-on-bad-wi-fi-ros2-kinematic-guard-for-cmd-vel-safety/54681 "2026-10-23T15:59:55Z")

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Hi ROS Community, Have you ever tuned DDS QoS for hours, only to see a mobile robot execute a “ghost command” after a bad Wi-Fi / 5G spike? I’ve been working on a small ROS 2 project called ros2\_kinematic\_guard to addr…

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## [Toy robot arm simulator for on-the-fly training & learning about small models](https://discourse.openrobotics.org/t/toy-robot-arm-simulator-for-on-the-fly-training-learning-about-small-models/59092)

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**Author:** [@AMP](https://discourse.openrobotics.org/u/AMP)\
**Replies:** 0\
**Last updated:** [October 23, 2026, 8:44am UTC](https://discourse.openrobotics.org/t/toy-robot-arm-simulator-for-on-the-fly-training-learning-about-small-models/59092 "2026-10-23T08:44:37Z")

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A browser-only demo where you type or say an instruction and a very small AI model controls a toy robot arm. The model was trained on an everyday PC workstation. Its small, but it can follow these simple instructions…

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## [Building a retrofit robotic milking system — looking to learn and collaborate](https://discourse.openrobotics.org/t/building-a-retrofit-robotic-milking-system-looking-to-learn-and-collaborate/58843)

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**Author:** [@TomBawn](https://discourse.openrobotics.org/u/TomBawn)\
**Replies:** 4\
**Last updated:** [October 22, 2026, 11:23pm UTC](https://discourse.openrobotics.org/t/building-a-retrofit-robotic-milking-system-looking-to-learn-and-collaborate/58843 "2026-10-22T23:23:06Z")

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Hi everyone! I’m Tom, originally from Ireland and currently based in Sydney, Australia. I grew up on a dairy farm and have spent much of my career in business development and industrial operations. I’m relatively new t…

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## [DialoStack: task-oriented spoken dialogue for ROS 2, with the LLM kept out of the control flow](https://discourse.openrobotics.org/t/dialostack-task-oriented-spoken-dialogue-for-ros-2-with-the-llm-kept-out-of-the-control-flow/58631)

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**Author:** [@aquintan4](https://discourse.openrobotics.org/u/aquintan4)\
**Replies:** 3\
**Last updated:** [October 22, 2026, 6:20pm UTC](https://discourse.openrobotics.org/t/dialostack-task-oriented-spoken-dialogue-for-ros-2-with-the-llm-kept-out-of-the-control-flow/58631 "2026-10-22T18:20:28Z")

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I’ve been working on getting a robot to run structured spoken conversations, things like a clinic intake (collect name, age, reason for the visit, allergies…), explaining a topic and checking the person understood it, or…

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## [The release of the Conduit iOS app—transform your Apple devices into ROS 2 sensor publishers](https://discourse.openrobotics.org/t/the-release-of-the-conduit-ios-app-transform-your-apple-devices-into-ros-2-sensor-publishers/51717)

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**Author:** [@youtalk](https://discourse.openrobotics.org/u/youtalk)\
**Replies:** 6\
**Last updated:** [October 22, 2026, 3:18pm UTC](https://discourse.openrobotics.org/t/the-release-of-the-conduit-ios-app-transform-your-apple-devices-into-ros-2-sensor-publishers/51717 "2026-10-22T15:18:56Z")

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:rocket: Excited to announce the release of the Conduit iOS app! Transform your iPhone/iPad (and soon Mac) into a powerful sensor suite for ROS 2 robotics. After months of deep technical work on wire format compatibil…

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## [How to get a review on joystick\_drivers](https://discourse.openrobotics.org/t/how-to-get-a-review-on-joystick-drivers/59049)

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**Author:** [@abrandemuehl](https://discourse.openrobotics.org/u/abrandemuehl)\
**Replies:** 1\
**Last updated:** [October 22, 2026, 12:47pm UTC](https://discourse.openrobotics.org/t/how-to-get-a-review-on-joystick-drivers/59049 "2026-10-22T12:47:17Z")

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I have a PR with a fix for game\_controller\_node, but unfortunately I haven’t been able to get a review for it from a maintainer. Is there a good way to get in touch with the maintainers?

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## [PlanSys2 4.0.0 released: robust, and covering PDDL from 1.2 to PDDL+](https://discourse.openrobotics.org/t/plansys2-4-0-0-released-robust-and-covering-pddl-from-1-2-to-pddl/59031)

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**Author:** [@fmrico](https://discourse.openrobotics.org/u/fmrico)\
**Replies:** 0\
**Last updated:** [October 21, 2026, 6:14pm UTC](https://discourse.openrobotics.org/t/plansys2-4-0-0-released-robust-and-covering-pddl-from-1-2-to-pddl/59031 "2026-10-21T18:14:15Z")

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Since it was born during the 2020 pandemic, PlanSys2 has been the basis of papers, master’s theses, master courses, and PhD theses. As far as I know, some companies use it to control their logistics robots, and it has ev…

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## [SpaceMouse teleop + MuJoCo visual twin & data collection for AgileX PiPER](https://discourse.openrobotics.org/t/spacemouse-teleop-mujoco-visual-twin-data-collection-for-agilex-piper/58712)

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**Author:** [@skunda](https://discourse.openrobotics.org/u/skunda)\
**Replies:** 3\
**Last updated:** [October 21, 2026, 3:55pm UTC](https://discourse.openrobotics.org/t/spacemouse-teleop-mujoco-visual-twin-data-collection-for-agilex-piper/58712 "2026-10-21T15:55:49Z")

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Hey everyone! :waving\_hand: Wanted to share a project I’ve been hacking on: a SpaceMouse-driven teleoperation and data collection pipeline for the AgileX PiPER 6-DOF arm on ROS 2. The main idea was to make teleoperatio…

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## [ROS Developer Studio: a browser-based workspace for ROS 2 inspection and bag analysis](https://discourse.openrobotics.org/t/ros-developer-studio-a-browser-based-workspace-for-ros-2-inspection-and-bag-analysis/59023)

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**Author:** [@Arnab](https://discourse.openrobotics.org/u/Arnab)\
**Replies:** 0\
**Last updated:** [October 21, 2026, 3:55pm UTC](https://discourse.openrobotics.org/t/ros-developer-studio-a-browser-based-workspace-for-ros-2-inspection-and-bag-analysis/59023 "2026-10-21T15:55:38Z")

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Hi ROS community, I’m sharing ROS Developer Studio, an open-source tool I’ve been building to make ROS 2 system investigation easier from a browser. It brings together live graph and topic inspection, opt-in telemet…

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## [Ros2\_pulse: topic rates on a Grafana dashboard, now counting rclpy nodes and loaned messages](https://discourse.openrobotics.org/t/ros2-pulse-topic-rates-on-a-grafana-dashboard-now-counting-rclpy-nodes-and-loaned-messages/58863)

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**Author:** [@TanayK07](https://discourse.openrobotics.org/u/TanayK07)\
**Replies:** 1\
**Last updated:** [October 21, 2026, 2:28pm UTC](https://discourse.openrobotics.org/t/ros2-pulse-topic-rates-on-a-grafana-dashboard-now-counting-rclpy-nodes-and-loaned-messages/58863 "2026-10-21T14:28:54Z")

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Some updates on ros2\_pulse since the first post (Ros2\_pulse: per-topic rates and node liveness, including intra-process, on stock binaries), the LD\_PRELOAD probe that counts per-topic rates and node liveness from the …

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## [Simple C++ node to get more accurate topic frequency](https://discourse.openrobotics.org/t/simple-c-node-to-get-more-accurate-topic-frequency/57741)

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**Author:** [@Bernd\_Pfrommer](https://discourse.openrobotics.org/u/Bernd_Pfrommer)\
**Replies:** 8\
**Last updated:** [October 21, 2026, 12:40pm UTC](https://discourse.openrobotics.org/t/simple-c-node-to-get-more-accurate-topic-frequency/57741 "2026-10-21T12:40:41Z")

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Here is a simple C++ replacement for \`ros2 topic hz\`. It is more accurate than the native ros2 command for high frequency / high bandwidth topics. It should work for any RMW (though I tested it for Zenoh only). After b…

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## [Ros2\_pulse: per-topic rates and node liveness, including intra-process, on stock binaries](https://discourse.openrobotics.org/t/ros2-pulse-per-topic-rates-and-node-liveness-including-intra-process-on-stock-binaries/57637)

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**Author:** [@TanayK07](https://discourse.openrobotics.org/u/TanayK07)\
**Replies:** 15\
**Last updated:** [October 21, 2026, 12:39pm UTC](https://discourse.openrobotics.org/t/ros2-pulse-per-topic-rates-and-node-liveness-including-intra-process-on-stock-binaries/57637 "2026-10-21T12:39:13Z")

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I run a ROS 2 planner stack on a Jetson AGX Orin and kept hitting the same wall: I want to know whether every topic is flowing at the rate it should and which nodes are alive, and the stock tools could not tell me withou…

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## [Webots Demo 8: Supervisory Gate Multi-Fault Lifecycle & Watchdog Hardening (QERRA-v2 Classical)](https://discourse.openrobotics.org/t/webots-demo-8-supervisory-gate-multi-fault-lifecycle-watchdog-hardening-qerra-v2-classical/59014)

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**Author:** [@marunigno-ship-it](https://discourse.openrobotics.org/u/marunigno-ship-it)\
**Replies:** 0\
**Last updated:** [October 21, 2026, 12:13pm UTC](https://discourse.openrobotics.org/t/webots-demo-8-supervisory-gate-multi-fault-lifecycle-watchdog-hardening-qerra-v2-classical/59014 "2026-10-21T12:13:31Z")

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Hi everyone, :blush: Following up on my Demo 7 post about isolating high-level planners from actuator handles, I’ve completed Demo 8. Demo 7 showed a basic obstacle stop. Here I stress-tested the gate’s state machine th…

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## [From Multi-Agent RL in Simulation to Physical Multi-Robot Coordination](https://discourse.openrobotics.org/t/from-multi-agent-rl-in-simulation-to-physical-multi-robot-coordination/58999)

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**Author:** [@Abdalwhab](https://discourse.openrobotics.org/u/Abdalwhab)\
**Replies:** 0\
**Last updated:** [October 20, 2026, 10:30pm UTC](https://discourse.openrobotics.org/t/from-multi-agent-rl-in-simulation-to-physical-multi-robot-coordination/58999 "2026-10-20T22:30:17Z")

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Hi everyone, I’d like to share our recent work on decentralized multi-agent reinforcement learning (MARL) for multi-robot task assignment and navigation in industrial environments. :page\_facing\_up: Paper: Learning Multi…

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## [OpenAMRobot v0.0.1 - Open-source ROS 2 mobile robot platform](https://discourse.openrobotics.org/t/openamrobot-v0-0-1-open-source-ros-2-mobile-robot-platform/56515)

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**Author:** [@Botshare\_Company](https://discourse.openrobotics.org/u/Botshare_Company)\
**Replies:** 1\
**Last updated:** [October 20, 2026, 10:29pm UTC](https://discourse.openrobotics.org/t/openamrobot-v0-0-1-open-source-ros-2-mobile-robot-platform/56515 "2026-10-20T22:29:07Z")

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Hi everyone, We have released OpenAMRobot v0.0.1, the first public product-level release of our open-source mobile robotics platform. OpenAMRobot is built around ROS 2 Jazzy and is intended for robotics research, ed…

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## [HX Friends – Open-Source Hands & Grippers](https://discourse.openrobotics.org/t/hx-friends-open-source-hands-grippers/58996)

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**Author:** [@Pyo](https://discourse.openrobotics.org/u/Pyo)\
**Replies:** 0\
**Last updated:** [October 20, 2026, 10:03pm UTC](https://discourse.openrobotics.org/t/hx-friends-open-source-hands-grippers/58996 "2026-10-20T22:03:04Z")

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We are releasing HX Friends, an open-source collection of robotic hand and gripper reference designs built on DYNAMIXEL. Many university labs and companies already use DYNAMIXEL actuators to build and shar…

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## [DendROS - colored ROS2 terminal output with utils](https://discourse.openrobotics.org/t/dendros-colored-ros2-terminal-output-with-utils/58797)

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**Author:** [@mlisi1](https://discourse.openrobotics.org/u/mlisi1)\
**Replies:** 5\
**Last updated:** [October 19, 2026, 11:40pm UTC](https://discourse.openrobotics.org/t/dendros-colored-ros2-terminal-output-with-utils/58797 "2026-10-19T23:40:57Z")

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Hi all, I’d like to share DendROS, an open-source tool that makes ROS 2 terminal output easier to read. When a launch file starts thirty nodes, they all print to the same terminal in the same color, and the line you nee…

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## [robot-data-diff: episode-aware diffs for LeRobot datasets](https://discourse.openrobotics.org/t/robot-data-diff-episode-aware-diffs-for-lerobot-datasets/58956)

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**Author:** [@Japheth](https://discourse.openrobotics.org/u/Japheth)\
**Replies:** 0\
**Last updated:** [October 19, 2026, 4:16pm UTC](https://discourse.openrobotics.org/t/robot-data-diff-episode-aware-diffs-for-lerobot-datasets/58956 "2026-10-19T16:16:05Z")

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I built a small CLI for a problem I kept running into: you retrain a policy and it gets worse — was it the code or the data? robot-data-diff diffs any two revisions of a LeRobot dataset directly — local dirs or HF repo …

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## [Introducing swift-ros2: a native Swift client library for ROS 2, now open source](https://discourse.openrobotics.org/t/introducing-swift-ros2-a-native-swift-client-library-for-ros-2-now-open-source/54205)

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**Author:** [@youtalk](https://discourse.openrobotics.org/u/youtalk)\
**Replies:** 3\
**Last updated:** [October 19, 2026, 3:55pm UTC](https://discourse.openrobotics.org/t/introducing-swift-ros2-a-native-swift-client-library-for-ros-2-now-open-source/54205 "2026-10-19T15:55:22Z")

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:rocket: Excited to share that swift-ros2 — the wire layer that powers the Conduit iOS app: is now available as a standalone open-source Swift package under Apache 2.0: Since its App Store debut in January, Conduit…

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## [Swift-ros2 3.0: native Swift ROS 2 client library, now with generated common\_interfaces and its own org](https://discourse.openrobotics.org/t/swift-ros2-3-0-native-swift-ros-2-client-library-now-with-generated-common-interfaces-and-its-own-org/58955)

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**Author:** [@youtalk](https://discourse.openrobotics.org/u/youtalk)\
**Replies:** 0\
**Last updated:** [October 19, 2026, 3:29pm UTC](https://discourse.openrobotics.org/t/swift-ros2-3-0-native-swift-ros-2-client-library-now-with-generated-common-interfaces-and-its-own-org/58955 "2026-10-19T15:29:38Z")

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swift-ros2 3.0.0 is out. It is the first stable 3.x release of the native Swift client library for ROS 2 that I introduced here in April. swift-ros2 lets a Swift app join a ROS 2 graph directly, over Zenoh (round-trip c…

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## [42 Gazebo Harmonic Simulation Worlds for Navigation, Exploration and SLAM workflows](https://discourse.openrobotics.org/t/42-gazebo-harmonic-simulation-worlds-for-navigation-exploration-and-slam-workflows/58934)

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**Author:** [@mertguler](https://discourse.openrobotics.org/u/mertguler)\
**Replies:** 0\
**Last updated:** [October 18, 2026, 11:33pm UTC](https://discourse.openrobotics.org/t/42-gazebo-harmonic-simulation-worlds-for-navigation-exploration-and-slam-workflows/58934 "2026-10-18T23:33:59Z")

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I have created 42 Gazebo & Blender simulation worlds for testing, benchmarking and improving projects that involves navigation, exploration, LiDAR and robot model setups ex. The project is open-source and licensed with …

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## [Teaching Robots to Feel with AI Worker Tactile Imitation Learning](https://discourse.openrobotics.org/t/teaching-robots-to-feel-with-ai-worker-tactile-imitation-learning/58932)

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**Author:** [@Pyo](https://discourse.openrobotics.org/u/Pyo)\
**Replies:** 0\
**Last updated:** [October 18, 2026, 11:05pm UTC](https://discourse.openrobotics.org/t/teaching-robots-to-feel-with-ai-worker-tactile-imitation-learning/58932 "2026-10-18T23:05:40Z")

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Anyone who has trained vision-based imitation learning policies knows where cameras hit their limit: contact-rich manipulation with deformable objects. Recently, we tested a bimanual paper cup unstacking a…

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## [VizMini2: RViz, teleop and ROS 2 tools on your Android phone or tablet](https://discourse.openrobotics.org/t/vizmini2-rviz-teleop-and-ros-2-tools-on-your-android-phone-or-tablet/58822)

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**Author:** [@Juancams](https://discourse.openrobotics.org/u/Juancams)\
**Replies:** 9\
**Last updated:** [October 17, 2026, 6:59pm UTC](https://discourse.openrobotics.org/t/vizmini2-rviz-teleop-and-ros-2-tools-on-your-android-phone-or-tablet/58822 "2026-10-17T18:59:57Z")

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Hi everyone, I’d like to introduce VizMini2, an Android app to view, drive and inspect ROS 2 robots from your phone or tablet. This is the first time I’m sharing it outside my own circle, so any comments, criticism or i…

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## [Webots Demo 7: Testing a Supervisory Gate Pattern on TIAGo (QERRA-v2 Classical)](https://discourse.openrobotics.org/t/webots-demo-7-testing-a-supervisory-gate-pattern-on-tiago-qerra-v2-classical/58768)

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**Author:** [@marunigno-ship-it](https://discourse.openrobotics.org/u/marunigno-ship-it)\
**Replies:** 1\
**Last updated:** [October 16, 2026, 1:01pm UTC](https://discourse.openrobotics.org/t/webots-demo-7-testing-a-supervisory-gate-pattern-on-tiago-qerra-v2-classical/58768 "2026-10-16T13:01:01Z")

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Hi everyone, Following up on my previous posts on deterministic safety reflexes (Demo 6) and Layer 3 ranking rules, I wanted to share the latest simulation milestone from QERRA-v2 Classical: Webots Demo 7 (Supervisory G…

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