# \#foxy

**URL:** https://discourse.openrobotics.org/tag/foxy/126.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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## [Thoughts on Ignition Gazebo Simulator and ROS2 bridge](https://discourse.openrobotics.org/t/thoughts-on-ignition-gazebo-simulator-and-ros2-bridge/16477)

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**Author:** [@ruffsl](https://discourse.openrobotics.org/u/ruffsl)\
**Replies:** 2\
**Last updated:** [September 11, 2026, 9:00am UTC](https://discourse.openrobotics.org/t/thoughts-on-ignition-gazebo-simulator-and-ros2-bridge/16477 "2026-09-11T09:00:41Z")

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First, excellent work from the Ignition Dev Team, and congrats on the new release of Citadel! Reading through the feature comparison between this and Gazebo-classic version 11 and the status of their migration to Igni…

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## [How to enable ESM for ROS and Ubuntu to keep your robots supported after Noetic EOL](https://discourse.openrobotics.org/t/how-to-enable-esm-for-ros-and-ubuntu-to-keep-your-robots-supported-after-noetic-eol/49863)

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**Author:** [@mirkoferrati](https://discourse.openrobotics.org/u/mirkoferrati)\
**Replies:** 3\
**Last updated:** [November 28, 2025, 12:03am UTC](https://discourse.openrobotics.org/t/how-to-enable-esm-for-ros-and-ubuntu-to-keep-your-robots-supported-after-noetic-eol/49863 "2025-11-28T00:03:09Z")

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We’ve been receiving a lot of questions about ESM for ROS, including how to enable it effectively in developers’ environments. Many of the answers have already been compiled in our FAQ blog post, therefore, in this post…

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## [ROS2 speed](https://discourse.openrobotics.org/t/ros2-speed/20162)

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**Author:** [@lnotspotl](https://discourse.openrobotics.org/u/lnotspotl)\
**Replies:** 50\
**Last updated:** [October 24, 2025, 6:14am UTC](https://discourse.openrobotics.org/t/ros2-speed/20162 "2025-10-24T06:14:30Z")

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Hi guys, I’ve been playing around with ROS2 quite a lot recently and I have to say, that it’s amazing. I have an application running on ROS1 Noetic, which requires some of the nodes to publish data at a relatively high …

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## [Discovery problems with the discovery server ;-)](https://discourse.openrobotics.org/t/discovery-problems-with-the-discovery-server/19900)

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**Author:** [@Ingo\_Lutkebohle](https://discourse.openrobotics.org/u/Ingo_Lutkebohle)\
**Replies:** 7\
**Last updated:** [September 16, 2025, 2:50pm UTC](https://discourse.openrobotics.org/t/discovery-problems-with-the-discovery-server/19900 "2025-09-16T14:50:29Z")

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A while ago, a new discovery server was announced, which aims to reduce discovery traffic and improve reliability of discovery over WiFi. However, this servers appears to come with some limitations which are quite serio…

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## [New Discovery Server](https://discourse.openrobotics.org/t/new-discovery-server/17383)

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**Author:** [@Katrin\_Kellner](https://discourse.openrobotics.org/u/Katrin_Kellner)\
**Replies:** 25\
**Last updated:** [September 5, 2025, 6:55am UTC](https://discourse.openrobotics.org/t/new-discovery-server/17383 "2025-09-05T06:55:01Z")

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Fast DDS features an alternative to the DDS Simple Discovery Protocol (SDP) mechanism: Discovery Server. Discovery Server is a mechanism designed for large deployments with many nodes, reduces the discovery related netw…

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## [ROS2 Foxy Zerotier VPN problems update](https://discourse.openrobotics.org/t/ros2-foxy-zerotier-vpn-problems-update/39480)

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**Author:** [@maurtonio](https://discourse.openrobotics.org/u/maurtonio)\
**Replies:** 3\
**Last updated:** [September 6, 2024, 12:58pm UTC](https://discourse.openrobotics.org/t/ros2-foxy-zerotier-vpn-problems-update/39480 "2024-09-06T12:58:15Z")

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I’m having some issue with my robot ecosystem and the remote connection. The ecosystem is composed by: A rover where is running ROS 2 foxy connected to a router The router where is enabled a connection to a Zerotier…

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## [ROS 2 remote connection through VPN](https://discourse.openrobotics.org/t/ros-2-remote-connection-through-vpn/34207)

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**Author:** [@maurtonio](https://discourse.openrobotics.org/u/maurtonio)\
**Replies:** 3\
**Last updated:** [October 25, 2023, 4:49pm UTC](https://discourse.openrobotics.org/t/ros-2-remote-connection-through-vpn/34207 "2023-10-25T16:49:55Z")

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I’m having some issue with my robot ecosystem and the remote connection. The ecosystem is composed by: A drone where is running ROS 2 foxy connected to a router The router where is enabled a connection to a VPN net A…

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## [Woeden: making data collection easier](https://discourse.openrobotics.org/t/woeden-making-data-collection-easier/28382)

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**Author:** [@Alec\_Bell](https://discourse.openrobotics.org/u/Alec_Bell)\
**Replies:** 2\
**Last updated:** [August 30, 2023, 6:04pm UTC](https://discourse.openrobotics.org/t/woeden-making-data-collection-easier/28382 "2023-08-30T18:04:09Z")

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https://woeden.com I built this tool to make it easier to record, offload, and manage ROS 2 bags from a fleet of robots that you can share with teammates. :smiley: Anyone can sign up. I’d be very appreciative of any fe…

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## [New Package Alert!!! LaserScan Relay](https://discourse.openrobotics.org/t/new-package-alert-laserscan-relay/30186)

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**Author:** [@ammar\_albakri](https://discourse.openrobotics.org/u/ammar_albakri)\
**Replies:** 9\
**Last updated:** [August 22, 2023, 7:23am UTC](https://discourse.openrobotics.org/t/new-package-alert-laserscan-relay/30186 "2023-08-22T07:23:16Z")

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Being a robotics company that uses ROS primarily in its robot sometimes has disadvantages (not finding the package you need out of the box, missing documentation, etc..), but we still continue to improve and try to help …

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## [Error in RobotModel](https://discourse.openrobotics.org/t/error-in-robotmodel/32744)

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**Author:** [@Siddhant](https://discourse.openrobotics.org/u/Siddhant)\
**Replies:** 3\
**Last updated:** [August 9, 2023, 6:53pm UTC](https://discourse.openrobotics.org/t/error-in-robotmodel/32744 "2023-08-09T18:53:24Z")

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Hello, I have recently started learning ROS2, hard stuck due to an error:- I wanted to build a simple robot, so I made the urdf file and added the plugins but still, the RobotModel in Rviz showed me an error… It would …

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## [Diff drive ros2\_control interface issue with hardware robot](https://discourse.openrobotics.org/t/diff-drive-ros2-control-interface-issue-with-hardware-robot/31768)

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**Author:** [@Usama-Arshad16](https://discourse.openrobotics.org/u/Usama-Arshad16)\
**Replies:** 1\
**Last updated:** [August 3, 2023, 6:41am UTC](https://discourse.openrobotics.org/t/diff-drive-ros2-control-interface-issue-with-hardware-robot/31768 "2023-08-03T06:41:33Z")

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I am trying to make a diff drive robot. I am using esp32 with microros\_arduino. I have successfully created cmd\_vel subscriber, left\_motor\_encoder, and right\_motor\_encoder publisher topics in esp32. And also successfully…

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## [Preparing for final Foxy sync and patch release 2023-06-12](https://discourse.openrobotics.org/t/preparing-for-final-foxy-sync-and-patch-release-2023-06-12/31909)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 0\
**Last updated:** [June 13, 2023, 5:41am UTC](https://discourse.openrobotics.org/t/preparing-for-final-foxy-sync-and-patch-release-2023-06-12/31909 "2023-06-13T05:41:43Z")

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We’re planning the final Foxy sync and patch release on 20th June, 2023. There are currently 118 packages ready to sync and no regressions. If you find a regression when testing, please report it and leave a comment her…

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## [ROS2 Gazebo World 2D/3D Map Generator](https://discourse.openrobotics.org/t/ros2-gazebo-world-2d-3d-map-generator/32405)

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**Author:** [@Arshadm78](https://discourse.openrobotics.org/u/Arshadm78)\
**Replies:** 0\
**Last updated:** [July 17, 2023, 4:36pm UTC](https://discourse.openrobotics.org/t/ros2-gazebo-world-2d-3d-map-generator/32405 "2023-07-17T16:36:46Z")

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I am excited to present an enhanced version of the ROS2 Gazebo 2D/3D map generation plugin that resolves various difficulties encountered during map creation for ROS2 Nav2. This refined plugin presents several advancemen…

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## [New packages for Foxy Fitzroy 2023-06-20](https://discourse.openrobotics.org/t/new-packages-for-foxy-fitzroy-2023-06-20/32039)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 0\
**Last updated:** [June 21, 2023, 1:01am UTC](https://discourse.openrobotics.org/t/new-packages-for-foxy-fitzroy-2023-06-20/32039 "2023-06-21T01:01:01Z")

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Foxy Fitzroy the first ROS 2 long-term support (LTS) release, with support for three years, has come to its documented end-of-life. This is the final sync for Foxy, bringing 11 new packages and updates 180 others. We wa…

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## [ROS 2 GPG key Error](https://discourse.openrobotics.org/t/ros-2-gpg-key-error/31880)

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**Author:** [@Siddhant](https://discourse.openrobotics.org/u/Siddhant)\
**Replies:** 3\
**Last updated:** [June 12, 2023, 6:08am UTC](https://discourse.openrobotics.org/t/ros-2-gpg-key-error/31880 "2023-06-12T06:08:23Z")

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I was re-downloading ROS2 Foxy from the documentation, in the step where we have to add the ROS 2 GPG key with apt, I am constantly getting error saying, curl: (28) Failed to connect to raw.githubusercontent.com port 44…

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## [Preparing for Foxy Fitzroy End-of-Life](https://discourse.openrobotics.org/t/preparing-for-foxy-fitzroy-end-of-life/31470)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 5\
**Last updated:** [June 5, 2023, 3:06pm UTC](https://discourse.openrobotics.org/t/preparing-for-foxy-fitzroy-end-of-life/31470 "2023-06-05T15:06:18Z")

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Our long running ROS 2 release is set to the end of its lifecycle of three years. As we prepare for our new release Iron Irwini, we are preparing to say goodbye to our long-term support (LTS) release Foxy Fitzroy. So if…

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## [New Online Course: ROS2 For Beginners - Learn From Scratch](https://discourse.openrobotics.org/t/new-online-course-ros2-for-beginners-learn-from-scratch/15838)

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**Author:** [@renarded](https://discourse.openrobotics.org/u/renarded)\
**Replies:** 5\
**Last updated:** [June 4, 2023, 6:36am UTC](https://discourse.openrobotics.org/t/new-online-course-ros2-for-beginners-learn-from-scratch/15838 "2023-06-04T06:36:43Z")

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Hi Everyone, I just released a new course to learn ROS2 from scratch, named ROS2 For Beginners. The goal of the course is to teach you the foundation you need to start developing ROS2 projects. I focus on the practical…

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## [Preparing for Foxy Sync 2023-05-04](https://discourse.openrobotics.org/t/preparing-for-foxy-sync-2023-05-04/31211)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 3\
**Last updated:** [May 18, 2023, 5:14pm UTC](https://discourse.openrobotics.org/t/preparing-for-foxy-sync-2023-05-04/31211 "2023-05-18T17:14:04Z")

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We’re planning a Foxy sync this Thursday. There are currently 102 packages ready to sync and no regressions. If you find a regression when testing, please report it upstream and leave a comment here so we can track it l…

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## [New packages for Foxy Fitzroy 2023-05-04](https://discourse.openrobotics.org/t/new-packages-for-foxy-fitzroy-2023-05-04/31246)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 0\
**Last updated:** [May 4, 2023, 7:13pm UTC](https://discourse.openrobotics.org/t/new-packages-for-foxy-fitzroy-2023-05-04/31246 "2023-05-04T19:13:16Z")

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We’re happy to announce new packages and updates for Foxy Fitzroy! Package Updates for foxy Added Packages \[62\]: ros-foxy-color-util: 1.0.0-1 ros-foxy-depthai-descriptions: 2.7.1-1 ros-foxy-depthai-filters: 2.7.1-1 ros…

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## [New packages and patch release for Foxy Fitzroy 2023-03-22](https://discourse.openrobotics.org/t/new-packages-and-patch-release-for-foxy-fitzroy-2023-03-22/30489)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 2\
**Last updated:** [April 24, 2023, 10:35pm UTC](https://discourse.openrobotics.org/t/new-packages-and-patch-release-for-foxy-fitzroy-2023-03-22/30489 "2023-04-24T22:35:06Z")

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We’re happy to announce a new Foxy release ! This sync brings a number of new packages as well as some updates to ROS 2 core packages. For a list of patches to core packages, see the project board on GitHub . Package U…

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## [Neato robot vacuum driver and navigation launch files](https://discourse.openrobotics.org/t/neato-robot-vacuum-driver-and-navigation-launch-files/30521)

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**Author:** [@Brian\_Kletchikov](https://discourse.openrobotics.org/u/Brian_Kletchikov)\
**Replies:** 0\
**Last updated:** [March 24, 2023, 5:05pm UTC](https://discourse.openrobotics.org/t/neato-robot-vacuum-driver-and-navigation-launch-files/30521 "2023-03-24T17:05:56Z")

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A driver that includes a urdf a driver node for the Neato robot vacuum, and the accompanying launch files for the driver and navigation. The driver node uses the GitHub - brannonvann/neato-driver-python: A python Driver…

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## [YASMIN (Yet Another State MachINe)](https://discourse.openrobotics.org/t/yasmin-yet-another-state-machine/30293)

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**Author:** [@mgonzs13](https://discourse.openrobotics.org/u/mgonzs13)\
**Replies:** 2\
**Last updated:** [March 15, 2023, 3:21pm UTC](https://discourse.openrobotics.org/t/yasmin-yet-another-state-machine/30293 "2023-03-15T15:21:21Z")

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Hi everyone, I’d like to present YASMIN, yet another state machine library to implement robot behaviors using Finite State Machines (FSM). It is available in C++ and Python, and provides some default states to speed up …

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## [ROS2 package for analysing IMU noise parameters](https://discourse.openrobotics.org/t/ros2-package-for-analysing-imu-noise-parameters/29127)

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**Author:** [@crux](https://discourse.openrobotics.org/u/crux)\
**Replies:** 0\
**Last updated:** [January 9, 2023, 5:40pm UTC](https://discourse.openrobotics.org/t/ros2-package-for-analysing-imu-noise-parameters/29127 "2023-01-09T17:40:53Z")

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Hello Everyone, I’ve written a package to identify sensor noise in IMU’s. Why ? I’m currently working on a vision based drone and needed a tool to identify IMU noise for use with VIO and filters. I’m using the relativ…

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## [Open Sourcing AWS DeepRacer 🚀](https://discourse.openrobotics.org/t/open-sourcing-aws-deepracer/20097)

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**Author:** [@Cam\_Buscaron](https://discourse.openrobotics.org/u/Cam_Buscaron)\
**Replies:** 6\
**Last updated:** [January 8, 2023, 3:57am UTC](https://discourse.openrobotics.org/t/open-sourcing-aws-deepracer/20097 "2023-01-08T03:57:57Z")

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Hello ROS Community, We are thrilled to announce that we have migrated the AWS DeepRacer device software from ROS 1 to ROS 2, and made it available to the open source community via the AWS DeepRacer GitHub today. AWS…

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## [New packages for Foxy Fitzroy 2022-11-16](https://discourse.openrobotics.org/t/new-packages-for-foxy-fitzroy-2022-11-16/28346)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 1\
**Last updated:** [December 10, 2022, 12:06pm UTC](https://discourse.openrobotics.org/t/new-packages-for-foxy-fitzroy-2022-11-16/28346 "2022-12-10T12:06:58Z")

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We’re happy to announce new packages and updates for Foxy Fitzroy! Package Updates for foxy Added Packages \[14\]: ros-foxy-dynamixel-workbench: 2.2.3-1 ros-foxy-dynamixel-workbench-msgs: 2.0.3-1 ros-foxy-dynamixel-workb…

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## [Preparing for Foxy sync 2022-11-09](https://discourse.openrobotics.org/t/preparing-for-foxy-sync-2022-11-09/28209)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 1\
**Last updated:** [November 16, 2022, 8:40pm UTC](https://discourse.openrobotics.org/t/preparing-for-foxy-sync-2022-11-09/28209 "2022-11-16T20:40:09Z")

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We’re planning a Foxy sync next week. There are currently 48 packages ready to sync and no regressions. If you find a regression when testing, please report it upstream and leave a comment here so we can track it leadin…

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## [Distributing a ROS2 Foxy system among multiple snaps](https://discourse.openrobotics.org/t/distributing-a-ros2-foxy-system-among-multiple-snaps/27933)

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**Author:** [@Mohamedaminhamdad](https://discourse.openrobotics.org/u/Mohamedaminhamdad)\
**Replies:** 4\
**Last updated:** [October 31, 2022, 10:53pm UTC](https://discourse.openrobotics.org/t/distributing-a-ros2-foxy-system-among-multiple-snaps/27933 "2022-10-31T22:53:55Z")

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Hello together, I knew that in ROS1 there is a way to build a snap containing only roscore and build other packages as snaps than on top of the Ros runtime snap. Is this also possible? The Idea is to have a ROS2 foxy as …

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## [Rclcpp Debian Package Optimization Level](https://discourse.openrobotics.org/t/rclcpp-debian-package-optimization-level/27997)

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**Author:** [@agross](https://discourse.openrobotics.org/u/agross)\
**Replies:** 2\
**Last updated:** [October 28, 2022, 3:28pm UTC](https://discourse.openrobotics.org/t/rclcpp-debian-package-optimization-level/27997 "2022-10-28T15:28:22Z")

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Does anybody know if/what optimization level the rclcpp debian package(s) (specifically I’m looking at ros-foxy-rclcpp\_2.4.2-1focal.20221012.230743\_amd64.deb) is compiled using? I tried unpacking the .deb and using objdu…

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## [New packages and patch release for Foxy Fitzroy 2022-10-21](https://discourse.openrobotics.org/t/new-packages-and-patch-release-for-foxy-fitzroy-2022-10-21/27883)

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**Author:** [@quarkytale](https://discourse.openrobotics.org/u/quarkytale)\
**Replies:** 0\
**Last updated:** [October 21, 2022, 9:12am UTC](https://discourse.openrobotics.org/t/new-packages-and-patch-release-for-foxy-fitzroy-2022-10-21/27883 "2022-10-21T09:12:04Z")

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We’re happy to announce a new Foxy release! This sync brings a number of new packages as well as some updates to ROS 2 core packages. For a list of patches to core packages, see the project board on GitHub. This fixes …

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## [Dynamixel\_control: ros2\_control implementation for ROBOTIS Dynamixel robots](https://discourse.openrobotics.org/t/dynamixel-control-ros2-control-implementation-for-robotis-dynamixel-robots/20107)

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**Author:** [@youtalk](https://discourse.openrobotics.org/u/youtalk)\
**Replies:** 4\
**Last updated:** [October 16, 2022, 11:27am UTC](https://discourse.openrobotics.org/t/dynamixel-control-ros2-control-implementation-for-robotis-dynamixel-robots/20107 "2022-10-16T11:27:22Z")

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Today I would like to introduce the dynamixel\_control package. It’s a ros2\_control implementation for any kind of ROBOTIS Dynamixel robots. It contains two packages: dynamixel\_hardware: the SystemInterface implement…

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