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ROS 2 TSC Meeting Agenda 2020-09-17

ROS 2 TSC Meeting Agenda 2020-09-17

  • Attendees
    • Jaime Martin Losa (eProsima)
    • Francesca Finocchiaro (eProsima) - Micro-ROS Team
    • Pablo Garrido Sanchez (eProsima) - Micro-ROS Team
    • Jose Antonio Moral Parras (eProsima) - Micro-ROS Team
    • Sumanth Nirmal (Apex.AI)
    • Lokesh Kumar Goel (LG Electronics)
    • Will Son (ROBOTIS)
    • Sean Yen (Microsoft)
    • Chris Lalancette, Dirk Thomas, William Woodall, Tully Foote, Kat Scott, Louise Poubel (Open Robotics)
    • Steve Macenski (Samsung Research)
    • Jilada Eccleston (TierIV)
    • Dave Coleman (PickNik)
    • Kyle Fazzari (Canonical)
    • Jerry Towler (SwRI, representing GVSC)
    • Aaron Blasdel (AWS RoboMaker)
    • Ian McMahon (Toyota Research Institute)
    • Joshua Whitley (The Autoware Foundation)
    • Karsten Knese (Bosch)
    • Harold Yang (Intel)
    • Joe Speed (ADLINK)
  • Preliminaries
    • [Gerkey][1 min] Please remember to fill out your contribution report (bottom of this doc)
    • [Gerkey][5 mins] Multiple new organizations are interested to join the TSC. Details forthcoming.
  • Old business
    • [Gerkey][5 mins] Update on process for selecting default RMW for future ROS 2 distros.
      • Proposal document
      • tl;dr:
        • now - 5 Nov: Katherine Scott (Open Robotics) leads authorship of a report from MWWG summarizing RMW choices
        • 5 Nov: report delivered to TSC
        • 19 Nov: TSC discussion of report
        • 3-10 Dec: TSC vote
  • New business
  • Recurring business
    • Next ROS 2 distro release
      • [Lalancette][15 mins] Sharing and discussion of roadmap for Galactic
    • Working group updates (not discussed in detail at the meeting; just a few highlights shared from Manipulation, Security, and Navigation):
      • [Knese] Control
        • Merged: Component Parser, able to compose robots dynamically through URDF. Examples (rrbot) are pending.
        • In flight: Controller refactoring, added forward_command_controller
        • In flight: Controller manager got enhanced with services to load, start/stop controllers
        • Next steps: Resource Management for dynamically loaded components
      • [Speed] Edge AI
        • gone racing, resumes in October
      • [Martin Losa] Embedded
      • [Coleman] Manipulation
        • MoveIt 2 released for Foxy and out of beta
        • Noetic release pending next build farm sync
        • MoveIt 2 feature complete with MoveIt 1, but development continuing
        • MoveIt Servo is realtime planner in ROS 2 using composable nodes
        • New integrations with DexNet, OMPL
        • Adding new maintainers to the MoveIt committing team
        • Developing roadmap for Cartesian planners in MoveIt
        • Concerns about deploying MoveIt 2 without ros2_control
      • [Woodall] Middleware
        • Meeting minutes:
        • Recent meeting topics:
          • Proposal for configuring QoS settings externally
          • Proposal for content filtered topics
          • Proposal for process of selecting the default rmw implementation
          • Proposal for changing how the executor works in rclcpp
          • Discussion of usability and performance in ROS 2
        • Upcoming meetings topics:
          • Proposal for DDS vendor agnostic rmw implementation
      • [Macenski] Navigation
        • Significant ongoing progress for Hybrid-A*, dynamic tracking, and keepout layer additions to stacks. I hope to have all 3 of these capabilities documented, merged, and tested before the end of October.
        • Incremental progress on Lazy Theta* planner and localization framework activities
        • Several documents produced on benchmarking performance and reliability of different 3D SLAM vendors to have official Nav2 support. LeGO-LOAM, LIO-SAM, and HDL-graph-slam are in the finalists, with us leaning towards LIO-SAM. Zhen Ju’s team has been great in spearheading this with only light realignments.
        • On-going discussions on geometry2 changes that needs resolution https://github.com/ros/geometry2/issues/467 breaking robot_localization and several other navigation related projects
        • Slowing down in progress week-over-week as summer has ended and many of the contributors are back in school or normalized from COVID. I expect only incremental updates for the next few months.
      • [Pangercic] Real-time
      • [Fazzari] Security
        • Had an excellent meeting with eProsima and RTI where we had the opportunity to raise a number of concerns with DDS-Security and try to shape its future (notes, thanks to Jaime for organizing):
          • Parameter size limit
          • Ways to update permissions of a given participant after it was started
          • Valid characters in DDS topic names (e.g. “DDS:Security:LogTopic” could be interpreted as being invalid)
          • Permissions file confidentiality
        • Ongoing discussion on global /parameter_events (we need to get back to discourse on this)
        • Proposal for making various keystore operations in the SROS2 utilities part of public API
        • Version 3.1 of python3-cryptography removed the OpenSSL S/MIME API we were using. We’re working with upstream on a fix (see https://github.com/ros2/sros2/issues/239 and https://github.com/ros2/ci/issues/507)
      • [Blasdel] Tooling
        • Added codeowners to ros-tooling to auto-assign reviews
        • Breakout Meeting: Multi-Machine and Remote Launching
        • Improvements to System Metrics Collector
          • Added a process CPU usage measurement node

TSC Member Contribution Reporting

ROS 2 TSC Contribution Self-Report 2020-09-17.pdf (106.5 KB)