ROS 2 TSC Meeting Agenda 2020-12-17
Member contribution report (127.3 KB)
-
Attendees
- Steve Macenski - Samsung Research
- Aaron Blasdel - AWS RoboMaker (Amazon)
- Kyle Fazzari - Canonical
- Ralph Lange - Bosch
- Nick Fragale - Rover Robotics
- Jilada Eccleston - Tier IV
- Dave Coleman, Mark Moll, Henning Kayser - PickNik
- Brian Gerkey, Chris Lalancette, William Woodall, Geoff Biggs, Tully Foote, Kat Scott, Louise Poubel - Open Robotics
- Will Son - ROBOTIS
- Ian McMahon - Toyota Research Institute
- Lokesh Kumar Goel - LG Electronics
- Rob Woolley - Wind River (representing Andrei)
- Joe Speed - ADLINK
- Jaime Martin Losa - eProsima
- Jerry Towler - SwRI (representing GVSC)
-
Preliminaries
- [Gerkey] Fill in the contribution report in this doc!
-
Old business
-
New business
- [Gerkey][10 mins] Discuss new TSC applicants and call for vote
- Decision: Gerkey to open vote Dec 18, close Jan 8 to allow for holidays
- Opened late (Dec 22), so will also close late (Jan 12).
- Decision: Gerkey to open vote Dec 18, close Jan 8 to allow for holidays
- [Coleman, Kayser & Moll][15 mins] Update on MoveIt port to ROS 2
- Presentation Slides
- Extended discussion about the “chicken and egg” problem of ROS 2 / MoveIt 2 adoption: users wait for robots to be supported, but robot vendors wait for users to migrate.
- We have various experiences with encouraging adoption. We’re recommending that our customers move to ROS 2, but sometimes it’s a hard sell.
- Bigger companies are willing to make the jump earlier
- ROS 1 remains the biggest competitor to ROS 2.
- Can we do a better job of tracking what’s missing in ROS 2? (and what “business/migrations each missing item would unlock”) ROS 2 Product management / customer management?
- This will be useful, but it’s not uncommon for users to throw out issues that are “blocking” only to come up with more blockers after the initial block is removed.
- Selling based on new features (security, real-time, code quality, hybrid planning, etc.) is better than saying that they can do the same thing but with extra work.
- [Fragale][15 mins] Next-Gen Robotics Hardware Modularity
- [Pangercic][3min] Executor(s) in ROS 2
- Apex.AI started a survey document which we shared with the community experts: https://docs.google.com/document/d/1O53xOVlk4zwsfNukLaDbSWfT64wnoD9xh2EjWwX43qo/edit
- If anyone is interested in the topic of (improved) executors please consider chiming in
- [Lange][5 mins] briefly discuss about the PRs to add micro-ROS to REP-2005, i.e.
- https://github.com/ros-infrastructure/rep/pull/290
- https://github.com/ros-infrastructure/rep/pull/292
- https://github.com/ros-infrastructure/rep/pull/300
- Reminder: TSC members need to approve the PR:
- “The PR will be merged if and when the sum of TSC member vote values is >= 3 (votes of +0 and -0 are treated equally as 0 when computing the sum).”
- [Macenski][5 min] TSC Charter confidentiality proposal https://docs.google.com/document/d/1h0hXa7-7M7VlhQgAgG2VhuY34JsRz6IhuxBJqpo6BhY/edit?usp=sharing
- [Macenski][5 min] Self-reporting FTE analysis https://docs.google.com/spreadsheets/d/1IdGedh0dAvODBgs7vdKc1EeqqbidM2GLsBiq8t42R9A/edit?usp=sharing
- [Gerkey][10 mins] Discuss new TSC applicants and call for vote
-
Recurring business
- Next ROS 2 distro release
- [Lalancette][10 mins]
- Plan for setting CycloneDDS as the default RMW
- Open Robotics to post announcement of this decision on Discourse today
- C++17 - https://github.com/ros-infrastructure/rep/pull/291 - I haven’t heard any objections to this change, so we’ll probably go ahead with this
- macOS support - macOS support in ROS 2 Galactic and beyond - unless we get some kind of dedicated support for it, will probably drop it to Tier 3 in Galactic
- Follow-up about additional committers - crunched the numbers, found 3 obvious candidates for inviting to core committers. Will be sending out invitations tomorrow/early next week
- Plan for setting CycloneDDS as the default RMW
- [Pangercic][3min] Follow-up on signing up for the items in ROS 2 G
- There were no additional volunteers for the implementation of the features https://index.ros.org/doc/ros2/Roadmap/#id2
- Where is the problem? What could be improved to get these features in?
- [Lalancette][10 mins]
- Working groups [<5 mins each] [Not discussed live in the meeting]
-
[Knese] Control
-
[Speed] Edge AI
- recording and meeting minutes
- Amey Kulkarni at NVIDIA presented new ROS 2 packages for human pose estimation, classification, and object detection being provided as eloquent & foxy cyclonedds Jetson dockers.
- presentation slides
- - NVIDIA-AI-IOT/ros2_trt_pose : ROS 2 package for “trt_pose”: real-time human pose estimation on NVIDIA Jetson Platform
- - NVIDIA-AI-IOT/ros2_deepstream : ROS 2 package for NVIDIA DeepStream applications on Jetson Platforms
- - NVIDIA-AI-IOT/ros2_torch_trt : ROS 2 packages for PyTorch and TensorRT for real-time classification and object detection on Jetson Platforms
- - NVIDIA-AI-IOT/ros2_jetson_stats : ROS 2 package for monitoring and controlling NVIDIA Jetson Platform resources
- Nav2 WG needs help to get optimized Mask R-CNN on Nvidia Jetson or GPUs
- Nav2 WG needs help getting NVIDIA GPU optimized Mask-RCNN available in ROS 2. Nav2 WG has been working on a navigation pipeline for detection, tracking, and avoidance for some time and this is the last blocking thing to releasing and demos https://github.com/ros-planning/navigation2_dynamic/
- This is blocking meaningful use of GPUs in navigation.
- NVIDIA and Arm trying to figure out solution for Nav2 WG
-
[Martin Losa] Embedded
-
[Coleman] Manipulation
- Prepping for MoveIt 2 Rolling Ridley release
- ROS2_Control collaborations between MoveIt and PickNik
- Alpha UR driver for ROS 2 underway
- Developing 2021 roadmap for MoveIt 2, let us know what you’re working on!
- New Cartesian planning functionality nearly ready to be merged in
- Hybrid planning for MoveIt being built
-
[Macenski] Navigation
- New speed restricted zone capabilities merged! Docs update and discourse announcement to follow.
- Working on pure pursuit variant for integration into the stack before year’s end https://github.com/ros-planning/navigation2_tutorials/pull/17
- Various cleanup leading up to year end to start 2021 with a fresher slate.
- New first-time user startup guide to be merged before years end on TF/URDF
- GPS waypoint follower additions being reviewed and likely merged before week’s end https://github.com/ros-planning/navigation2/pulls/2111
-
[Pangercic] Real-time
- Working on the bench setup for performance testing
- Executor Design draft
-
[Biggs] Safety
- Planning two sessions on requirements elicitation and writing in January (1st and 3rd Wednesdays, in our usual meeting slot). Please join if this topic interests you.
- Have had some discussion about what we could add to REP 2004 regarding requirements.
- Safety watchdogs library and contracts library are seeing some use, judging from the issue tracker.
-
[Fazzari] Security
- Exploring a reference security implementation of a moderately complex, fairly independent real-world system.
- This will be useful as an example for others to follow, as well as a proving ground for NoDL and testing different security policies.
- Next step is to identify one or more prototypes. Demos scheduled in January for MoveIt and the Robotics Middleware Framework (community invites will be posted to discourse in January)
- Hosted a discussion on Privaros, A Framework for Privacy-Compliant Delivery Drones.
- Vulnerability remediation procedure PR approved. This is the workflow for handling vulnerabilities reported through REP 2006, ROS 2 Vulnerability Disclosure Policy.
- Future meeting minutes have moved to the ros-security community github site.
- Exploring a reference security implementation of a moderately complex, fairly independent real-world system.
-
[Blasdel] Tooling
- Rosbag2
- Evaluated new LevelDB storage implementation. Sony will contribute and release it from their own repository to avoid adding even more packages to rosbag2 repository - but it looks like a promising option for users. Performance looks good, with a smaller disk footprint than SQLite.
- New compression multithreading improves data retention in high bandwidth compression use cases
- We are considering starting a landing page like navigation.ros.org for Tooling maintained projects, most importantly Rosbag2. Question for Steve / TSC: how was access for the “navigation” subdomain granted?
- CI Actions
- Deprecation of a GitHub Action core function caused all builds using action-ros-ci to break. The fix process prompted a new release model:
- All CI actions have been bumped to minor version 0.1.0, which promises a stable API
- Have started releasing tag “v0.1” in addition to the patch-level tags e.g. “0.1.4” - Consumers can point at tag “v0.1” to receive all patch releases automatically without change to their code so that the roll-out of a fix like this can happen without intervention
- New known user: ros2_control
- Deprecation of a GitHub Action core function caused all builds using action-ros-ci to break. The fix process prompted a new release model:
- REP-2005 RCP requests
- Rosbag2
-
[Woodall] Middleware
- Agenda, minutes, and further notes:
- Had a presentation of zenoh-plugin-dds as a bridge across problematic networks.
- Progress continuing on the Events based Executor proposal from iRobot
- Review of proof of concept of network flow id’s with FastDDS, from Ericsson and eProsima
-
- Next ROS 2 distro release