2/10/2009: ROS 0.4 Mango Tango released[20] 2/16/2009: RVIZ first documented 5/12/2009: First published paper on ROS: ROS: an open-source Robot Operating System 5/12/2009 (Authors: Morgan Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, Andrew Y Ng)[21] 8/16/2009: ROS.org comes online[22] 12/2/2009: First ROS tutorials released[23]