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ROS does not have a logo identity guideline package (yet). I helped with the PCL guideline package but haven't had time to create one for ROS.

Separate from logo identity guidelines is approval for use. We request that companies wishing to use the ROS logo on product materials e-mail comm@willowgarage.com for review -- hopefully we can come up with more clear guidelines (ala OSI). As you can see from the OSI guidelines, coming up with a that document will take a little work, but as you can see, most of it boils down to common sense.