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ROS 2 TSC Meeting Minutes: 12-16-2021

ROS 2 TSC Meeting Minutes December 16th, 2021


*ROS 2 TSC Contribution Report_ 12-16-2021.pdf (119.3 KB)

  • Attendees

    • Open Robotics - Kat Scott, Audrow Nash, Chris Lalancette, Geoff Biggs, Louise Poubel, Tully Foote
    • eProsima - Jaime Martin Losa, Raul Sanchez-Mateos Lizano
    • Apex.AI - Lyle Johnson
    • Bosch - Ralph Lange
    • Canonical - Jeremie Deray | artivis
    • LG Electronics - Herb Kuta
    • ROS-Industrial - Christoph Hellmann Santos
    • Toyota Research Institute - Ian McMahon
    • ROBOTIS - Will Son
    • PickNik - Dave Coleman, Tyler Weaver
    • iRobot - Alberto Soragna, Mauro Passerino
    • Sony - Tomoya Fujita
    • Samsung Research - Steve Macenski
    • AWS Robotics - Aaron Blasdel
    • SwRI - Jerry Towler (representing GVSC)
  • Preliminaries

    • [Kat ][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
    • ROS World Videos are Live
  • Old business

    • [Kat | < 5min] Call for interest – Developer Experience Working Group (tentative)
      • Motivated by PR Review Question and how do we improve it
      • Group specifically for ROS developer experience, perhaps help Kat with maintenance.
      • Want to select a set of KPIs and core goals to improve upon.
        • Make maintainers more efficient.
        • Improve documentation
        • Improve Answers / ROS.org
        • Make recommendations to TSC
      • Looking for a few volunteers to develop a proposal for January.
  • New business

    • [Jaime | 10min] ALMA Project
    • [Soragna/Biggs | 15 min] Client Lib WG Proposal ( tentative )
      • Ralph ⇒ Map repos to wg,
      • Chris ⇒ Number of issues is quite large.
      • Dave ⇒ Isn’t this the MWWG
    • [Kat | 10min] Discussion ROS 2 AI Roadmap
      • Vendor interest in all things AI. This is fantastic.
      • Similarly Jaime proposes taking over leadership of the “Edge AI working group”
        • This seems acceptable, but I’m skeptical of having an edge specific working group.
        • Propose that we have a more logical arrangement / naming of working group
        • Would seem to me, as an end user, the logical groupings are:
          • Hardware / Software (edge or otherwise)
          • Data, Models, V&V
          • Deployment and tooling
      • TL;DR I think we need a committee to create a strategic plan for AI and ROS
      • Any volunteers ?
      • Steve: code is not high quality, too fast moving, too vendor specific.
      • We might want to do domain specific AI focuses, focus on perception, navigation, mobile manipulations.
      • We should find abstractions to provide a general interface for AI platforms to allow ROS to leverage different AI platforms. Potentially some standard messages or interfaces and workflows.
    • [Soragna | 10min] Why is installing ROS 2 so hard? Documentation and tools for improving user experience
  • Recurring business

  • [Knapp] Web

    • Officially deprecated ros2-web-bridge (nodejs) in favor of ongoing investment in rosbridge_suite (python)
    • Added REP 2004 quality declaration to rosbridge_suite
    • Added rosbridge_suite and several other libraries to REP 2005
    • Foxglove: URDF visualization support, TF rendering & interpolation overhaul
  • [Knapp/Blasdel] Tooling

    • ros2 bag convert delivered: input one or more bags, and output one or more new bags with different settings - merge, split, filter, compress, etc.
    • Extensive breakouts on MCAP “message capture” binary file format specification. Led by Foxglove team. Looking very promising, and close to being able to make a prototype implementation (including rosbag2 storage plugin)
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