Robotic services, which have started to appear in urban environments, are going to transform our society. Designers of these robots are not only required to meet technical and legal challeng-es, but also address the potential social, political, and ethical consequences of their design choic-es. In this paper, we present a workshop format with its related tools intended for enabling speculation about such possible futures and fostering reflection on potential socio-ethical impli-cations that might support/oppose these futures. We report the results and discussion of one par-ticular workshop case, in which the implementation of two particular robotic services for a city was envisioned and questioned, i.e., surveillance and delivery of goods. By discussing the re-sults, we illustrate how such a workshop format might be beneficial for setting the agenda for a more conscious design of urban robots and orienting future research towards meaningful themes related to the emerging coexistence scenarios between citizens and robots.