ROS 2 TSC Meeting Minutes: 2020-11-19

General
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ROS 2 TSC Meeting Agenda - 2020-11-19

ROS 2 TSC Contribution Self-Report 2020-11-19.pdf (132.1 KB)

  • Attendees

    • eProsima: Jaime Martin Losa, Francesca Finocchiaro, Ricardo Gonzalez Moreno, Luis Gasco
    • AWS RoboMaker: Aaron Blasdel
    • Samsung Research: Steve Macenski
    • PickNik: Dave Coleman
    • Toyota Research Institute: Ian McMahon
    • ADLINK: Joe Speed
    • ROBOTIS: Will Son
    • Canonical: Sid Faber
    • Intel: Harold Yang
    • Wind River: Andrei Kholodnyi
    • Apex.AI: Dejan Pangercic
    • TierIV: Jilada Eccleston
    • SwRI (representing GVSC): Jerry Towler
    • Open Robotics: Brian Gerkey, Kat Scott, Chris Lalancette, Geoff Biggs, William Woodall, Tully Foote, Louise Poubel
    • Microsoft: Lou Amadio, Sean Yen
    • LG Electronics: Lokesh Kumar Goel

  • Preliminaries

    • [Gerkey][2 min] Welcome to Andrei @ Wind River!

    • [Gerkey][1 min] Please remember to fill out your contribution report (bottom of this doc)

  • Old business

    • [Gerkey & Scott][30 min] Default RMW selection for Galactic
      • We ask reps from DDS vendors to recuse themselves from this discussion (i.e., listen but don’t participate).
      • [Scott 14 mins] Present executive summary
      • [Everyone 14 mins] Q&A
      • [Gerkey 2 mins] Plan for vote, to happen Dec 3-10 (as previously announced):

  • New business

    • [Gerkey][1 min] ROS World: please fill out your attendee and/or exhibitor surveys!
    • [Jaime Martin][5 minutes] ROS2 Integration Service (SOSS) Demo: connecting two ROS2 nodes through the internet - special guest: Micro-ROS
    • [Speed][5 minutes] ROS 2 DDS discovery performance and traffic reduction
      • results with zenoh-plugin-dds for all Tier-1 RMW DDS
    • [Pangercic][5 mins]: The implications of leaking information discussed from ROS 2 TSC on Apex.AI (or any other future company)
      • [Aaron][1 min] Check in on code of conduct status. Is what happened in this case covered by CoC? If not should it be?
        • Steve to come back with concrete suggestion for change in charter and/or code of conduct.
    • [Pangercic][3mins] ROS 2 G Roadmap
    • [Pangercic][10 mins] Resources for doing the architectural work and reviewing the PRS
      • With these 2 items (item 1, item 2) it came to my attention that architecting the new features and reviewing the PRs takes too long time
      • What can we do to enable OR to have faster turnaround times?
        • Pay for more dedicated engineers at OR
        • Have more members of the community with the committer rights (term borrowed from Eclipse Foundation)
          • Chris to identify candidates to recruit as new (external-to-Open Robotics) committers
            • Also reach out to Dave Coleman to learn how MoveIt does this
    • [Knese][5 mins] Package license verification tools
    • [Knese][30 secs] Who’s reviewing rep2005 PRs?
      • Backlog of work includes:
      • Answer: all voting members of TSC should be reviewing and commenting on REP 2005 PRs
        • Open Robotics (e.g., Chris) will merge approved PRs, but first need minimum number of approvals from TSC members.

  • Recurring business (Not discussed live at meeting due to time taken by previous topics)

    • Next ROS 2 distro release
      • [Lalancette]
        • Thinking about changing to C++17 as minimum for Galactic (PR to REP-2000 upcoming)
          • Action Item: comment if you have any objections
        • DDS Service reliability - have had discussions with both ADLink and eProsima. Problem is common to both. Solution should be in rmw_dds_common, but need someone to step up to do the work.
          • eProsima & ADLINK will help on this.
        • Default middleware selection - report is done, up to TSC now
        • Documentation consolidation - Close to done, still need to figure out how to deploy properly
        • Per-package documentation - Prototype working. Still targeting deployment by end of year
        • Green builds on ci.ros2.org - Linux is mostly green. Windows and macOS need some work
        • rosbag2 performance improvements - First part landed, second part in progress
        • More compiler warnings - Turned on a bunch more, have shown some bugs that are being worked on
    • Working groups [5 mins each]
      • [Knese] Control
        • Final PRs are in flight for the first Foxy release with new architecture. Dynamic hardware composition, flexible accessors to “CommandInterfaces” and “StateInterfaces” from controllers.
        • First demo with ABB robots, PAL giving update talk at ROS-I conference in December.
      • [Speed] Edge AI
      • [Martin Losa] Embedded
        • micro-ROS on Arduino: micro-ROS on Arduino? âś…
        • Graphs support: Graph support in micro-ROS!
        • micro-ROS memory profiling: https://www.eprosima.com/index.php/resources-all/performance/micro-ros-client-memory-profiling
        • Integration with LUXonis DepthAI embedded platform [WIP]: micro-ROS goes AIoT!
        • Integration of micro-ROS with the FIWARE Orion Context Broker -
          • Abstract: As part of the developments being undertaken in micro-ROS, Francisco Melendez (FIWARE Foundation) made a presentation that explains how, based on the NGSI Open Standard, powered by FIWARE, micro-ROS applications aim to implement robot digital twins. The initial objective that has been set for these twins is the design of standardized interfaces that will allow micro-ROS architectures to interact with cloud-based industrial applications in which REST, HTTP based, interfaces are predominant.
        • micro-ROS at ROS World!
      • [Coleman] Manipulation
        • New “first-timer-issues” program being implemented to encourage beginners to get involved in the MoveIt Github repo
        • Gathering a public roadmap for MoveIt in 2021, encouraging the MoveIt community to share what they are working on to contribute to MoveIt in the future
        • MoveIt 2 hybrid planning project underway: local and global planners
        • MoveIt 2 tutorials migration effort kicking off
        • Working on hardware demos for MoveIt 2:
          • PickNik is first porting UR driver to ROS 2
          • ABB & Kuka demos are in the works by Dmitri Ignakov
      • [Macenski] Navigation
        • New Nav2 logo released and in our docs / readmes (stickers incoming and enamel pins are looking for funding)
        • Working on polishing Speed Restricted Zones PR for merge
          • E.g. like keepout zones, but sets the maximum speed for a particular area for safety concerns or speeding up for non-human zones
        • On-boarding new wave of contributors and collaborations that are developing from ROS World discussions and user engagement.
        • New contributors working on the localization framework project, getting closer to an MVP demo to compare against AMCL before working on an DT-NDT-A-MCL (oh yes, many letters, I’ll need to come up with a name for this) localizer which will be our long-term direction.
        • New contributors working on the dynamic obstacle detection project. Major blockers here are working on getting Mask-RCNN and other AI methods working on embedded GPUs to a reasonable degree. Turns out ONNX and TensorRT doesn’t like Mask-RCNN much and endless versioning and conversion issues. We could probably use a hand from the embedded AI working group to bring this home.
        • Pausing test coverage and documentation efforts for the time being. We’ve made incredible progress in 2020 (35 to 82% test coverage; a build guide to 12 unique tutorials, configuration guides, and much more) but need to re-focus on features and stability for a V1.0 release.
        • Our Nav2 slack group is running on borrowed time with a premium trial. Might need to migrate at some point in the near-term future or give up our archives.
      • [Pangercic] Real-time
      • [Biggs] Safety
        • A presentation about our contracts library project and our watchdogs library has been prepared. It is available in our working group repository and linked from the working group front page.
        • We are recruiting projects that want to try out the requirements work we are doing. We need real projects to use what we are producing (tools and processes) and give feedback on usefulness, usability, problems, etc.
        • Several members of the group have expressed an interest in learning more about how to write and manage requirements, so Geoff is going to give a lecture or two to the working group. We are opening this up to anyone interested (posted on Discourse), so feel free to join.
      • [Faber] Security
        • Ongoing work continuing to move forward:
          • A no-file-system option for building sros2 and possibly other packages
          • Vuln remediation procedure–the internal complement for the vuln discovery REP–is in review, https://github.com/ros-security/community/pull/8
          • Uglifying permissions files to save space
        • Discussion on G-turtle goals
        • Apply sros2 to an entire stack as a demo implementation for continuing to explore sros2; e.g.:
          • Considering MoveIt2 because it has a rich graph–need to discuss with the Manipulation WG
          • Use the test implemenation to extend sros2 use cases; e.g., limit default permissions, explore vendor / OEM key material + user key materials
      • [Blasdel] Tooling
        • Work on rosbag2 performance is proceeding
          • the user now has the ability to configure the SQLite pragmas - and a new default set has been chosen to improve overall performance
          • double buffering write implementation is in review, with it enabled performance is nearly limited by disk write speed rather than on rosbag2 implementation
        • New LevelDB storage backend (alternative to SQLite3) is being reviewed by the WG on Friday 11/20 - if we bloom release it, it would be the second rosbag2 storage solution available in the ecosystem
        • Adding more community links to the TSC Governance page https://github.com/ros2/ros2_documentation/pull/913
        • Emerson ramping up to spend more time on tooling development work - first order of business is to stabilize CI Actions and rosbag2, reduce bug count on the backlog
      • [Woodall] Middleware
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