Next Client Library WG Meeting: Friday 8th November 2024

[alsora]

Hi,
after a break I would like to start again the recurring meetings of the client library working group.

The next meeting will be this Friday, 8th November 2024 at 8 AM Pacific Time.

• Meeting link: https://meet.google.com/oij-atzj-znw
• Calendar invite: https://calendar.app.google/zArSBuxFXJnmBdsV6
• Google group if you want to be notified of future meetings: https://groups.google.com/g/ros-2-client-library-wg

The agenda for now includes:

• Improvements/Reworks of storage of goal results on the action servers Fix Memory Leak in Actions Using `EventsExecutor` by mauropasse · Pull Request #2661 · ros2/rclcpp · GitHub
• Discuss client library working group charter, to make this wg official under the new OSRA organization. See wg charter template and TGC policies

Everyone is welcome to join.
If you have topics you want to discuss, feel free to anticipate them here in this thread.

[alsora]

Here’s a short recap of the WG meeting:

• We discussed the work needed to bring the EventsExecutor out of the experimental namespace. The main pending task is to add support for clocks of different types, there’s an implementation already available for review.
• We should deprecate the global rclcpp::spin_some and similar functions (keep only rclcpp::spin). These functions promote a very bad pattern and have terrible performance, which may not be obvious without knowing their internal details.
• Add a template to rclcpp::spin to take in the executor type.
• RE Fix Memory Leak in Actions Using `EventsExecutor` by mauropasse · Pull Request #2661 · ros2/rclcpp · GitHub : we need a quick solution that is backportable to Jazzy. This will likely require using the executor pimpl data structure. We agree that a better long-term approach moves the storage of the goal result from the server to the client.
• Other miscellaneous discussions: performance of rclpy, services are not 1:1 communications.

The next meeting will be in 2 weeks: Friday 22nd November 2024.