ROS 2 TSC Meeting Minutes: 16 May 2019
- Attendees
- Open Robotics: Tully Foote, Brian Gerkey, Louise Poubel, Dirk Thomas
- TRI: Allison Thackston
- LG Electronics: Brian Shin
- eProsima: Jaime Martin Losa
- Bosch: Karsten Knese
- ROBOTIS: Yoonseok Pyo
- Tier IV: Geoffrey Biggs
- Acutronic Robotics: Víctor Mayoral Vilches
- Intel: Matt Hansen
- Amazon: Rutvik Hora
- Apex.AI: Dejan Pangercic
- Old business:
- [2 mins] [Gerkey] ROS trademark update
- Lawyers preparing application
- [2 mins] [Gerkey] ROS Elevator Pitch Brochure
- TSC members to send Brian images to include next week.
- Brian to do final iteration with designer and be ready to share around time of Dashing release.
- [2 mins] [Dirk] waffle.io transition
- We tried GitHub project board for the last two sprints (for the API freeze as well as the feature freeze); pros and cons:
- (+) The fact that you can place tickets in multiple projects with independent state has proven useful
- (-) The inability to add tickets from different org units (creating a note with a link to the external ticket as a workaround)
- (-) The inability to group correlated tickets
- (-) New tickets aren’t added to the project board until explicitly selected by a maintainer
- Conclusion: we are not very happy because of the cons and will re-evaluate our options, while limping along in the status quo of no perfect solution.
- Dejan and Dirk to check with contacts at GitHub on what features can be expected in the future.
- Alternative idea, raised by Geoff: follow Autoware’s lead and move from GitHub to GitLab, where the project boards have more of what we need. Such a move would be very disruptive, so not something that’s in the cards right now.
- We tried GitHub project board for the last two sprints (for the API freeze as well as the feature freeze); pros and cons:
- [5 mins] [Tully / Louise] armhf (32-bit ARM) becoming a Tier 2 supported platform
- Armhf executors added to ci.ros2.org; manual and nightly jobs are running
- ~10 test failures in default build
- REP 2000 updates [PR]
- Follow-up PR required to update tier status for armhf : Tully
- Implication for OpenEmbedded as Tier 3?
- Follow-up for Brian S. to submit PR to add new platform (against this branch).
- Armhf executors added to ci.ros2.org; manual and nightly jobs are running
- [10 mins] [Gerkey] Dashing release communication plan
- Review list of demos to come from TSC members
- Formulate sequence of release-related events
- Discourse post(s)
- June 5th meetup
- Individual company blog & social media posts as you see fit
- [2 mins] [Gerkey] ROS trademark update
- New business:
- (none)
- Standing updates:
- [15 min] [Dirk / All] Release planning - Dashing update [meta ticket]
- Open Robotics
- Action CLI
- IDL
- String (UTF-8), WString (UTF-16)
- Python numeric arrays and sequences, performance and memory improvements
- Intra process communication
- Publish only unique ptr vs. value
- Only do inter process comm when necessary
- Consider intra process subscriber signature
- Launch
- Launching components
- Launch-based testing improvements
- Parameters
- Declare parameters explicitly
- Read-only flag and value range descriptor
- Fix memory leak in
rclpy
- Roll out of incremental CI jobs on build.ros2.org (Linux only)
- Update to FastRTPS (soon to be) 1.8
- Acutronic Robotics
- Real-Time
- Been working in the ROS 2 Real-Time Quality Assurance Farm
- Update at https://github.com/ros2/ros2/issues/607#issuecomment-460319513
- 2-3 weeks of work left until presenting final results
- Information models
- Not much progress to report for now
- Manipulation
- Finalized a first demonstrator with MoveIt 2, more in the WGs discussion below
- Teaser for ROS 2 Dashing
- Prepared small teaser to get input from TSC
- Real-Time
- Amazon
- QoS features are merged in to mainline. Pending Demo & System tests related PRs: https://github.com/ros2/ros2/issues/680
- Working on cross-compile support targeting armhf
- Kicking off work to implement a framework/package that can capture and run ROS2 security attacks: https://github.com/ros2/design/pull/235
- Asan and Tsan related analysis is complete. Planning to submit a post on discourse with findings and bugs we have fixed so far.
- Apex.AI
- launch_testing has been completed: https://github.com/ros2/launch/issues/208.
- In the last month:
- launch_testing has been merged and consolidated into https://github.com/ros2/launch
- existing launch integration tests have been ported
- cli for running the integration tests locally has been created
- Still TBD:
- write more documentation than what is here: https://github.com/ros2/launch/tree/master/launch_testing
- add some extensions, e.g. https://github.com/ApexAI/apex_rostest/issues (issues must get migrated to https://github.com/ros2/launch/issues)
- Regarding performance_testing, William, Michael and Dejan met and came up with the following plan: https://github.com/ros2/ros2/issues/607#issuecomment-465832840.
- In brief:
- we need to extend https://github.com/ApexAI/performance_test to be able to run in the ros2 launch
- consolidate output format
- we need to automate test runs
- we need to figure out reporting and triaging. Apex is deploying a test management suite. Our current front-runner: https://www.qasymphony.com/software-testing-tools/qtest-manager/test-case-management/
- In brief:
- eProsima
- 1.8.0 Released. New Features:
- https://github.com/eProsima/Fast-RTPS/issues/468
- IDL 4.2
- Deadline QoS, Lifespan QoS
- Disable positive ACKs
- TLS support (secure sockets on TCP transport)
- Realtime improvements
- Preallocation
- Non-Blocking Calls
- API improvements
- Manual liveliness API (implementation pending for a patch release)
- Many bugfixes
- Not yet tagged, solved minor issues with ROS2 CI
- Dedicated infrastructure for CI performance tests
- 1.8.1 planning.
- Discovery Server Alpha available
- 1.8.0 Released. New Features:
- ROBOTIS
- Test for ROS 2 Dashing:
- LTE and 5G WAN testing using ROS 2 Dashing and DDS
- DDS Benchmarking with FastRTPS, Connext, OpenSplice, CycloneDDS, CoreDDS
- TurtleBot3 and existing packages
- Migration and update to ROS 2 Dashing
- Test for ROS 2 Dashing:
- BOSCH
- Diagnostics:
- PRs still waiting for review on upstream repo
- Diagnostics-Aggregator is dependent on Bond-core (upstream PR has to be reviewed as well)
- Micro-ROS:
- Work done to work with CMake instead of native nuttx tools
- System modes released
- Realtime Executor:
- Paper about realtime analysis (executor model) released by Bosch PhD student
- Experiment code available
- Diagnostics:
- Open Robotics
- Working group updates:
- [3 min] [Matt H] Navigation
- Change nodes to Lifecycle nodes
- Adds a lifecycle_manager node
- Adds Rviz plugin for startup / shutdown
- Change from nav2_tasks to rclcpp actions
- Adding collision checking for recovery behaviors
- Added parallel planning and control
- Enabling “rolling window” for local costmap
- Change nodes to Lifecycle nodes
- [3 min] [Rutvik] Security
- Threat model Design Article
- Working demonstrating example attacks ros2_SecTest in PR
- [3 min] [Dejan] Real-time
- Update is posted here: https://discourse.ros.org/t/ros-2-and-real-time/8796/18
- In brief:
- my initial posted attracted interest from Acutronic, Amazon, Bosch, Intel, Ubiquity, Centro Universitario de la Defensa, TierIV, Intel Portland, IIT
- First meeting: next Monday
- Consensus seems to be that it does not make sense to try to work on the whole HW/SW stack (which also includes ECUs, OSs, Interfaces, …) but instead to only focus on things like memory management, real-time pub/sub, real-time DDS and tools that allow tracing, profiling and optimizing
- [3 min] [Geoff] Safety
- Safety-critical WG
- A meeting was held but not well attended (only one other attendee).
- Some ideas were discussed but due to the lack of attendance no concrete plans were made.
- Intel missed the meeting but are interested in a future meeting, along with others. Follow up in the thread.
- [3 min] [Karsten] Embedded
- No update since last time
- [3 min] [Víctor] Manipulation
- QA work
- Unit tests ported
- moveit_ci ported to ROS 2
- Review instructions to help people reproduce our work
- First demonstrator https://github.com/AcutronicRobotics/moveit2/pull/71
- WG meetings
- Considering more demonstrators
- Things that ROS 2 enables and that weren’t possible with MoveIt!, poll the maintainers and experts
- Input?
- Sync with other WGs
- Real-time
- Security
- QA work
- [3 min] [Matt H] Navigation
- [15 min] [Dirk / All] Release planning - Dashing update [meta ticket]
- Other:
- Brian to update calendar time to be more accommodating for members in Europe.