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ROS 2 TSC Meeting Minutes: 2021-01-21

ROS 2 TSC Meeting Agenda - 21 January 2021

ROS 2 TSC Meeting Agenda - 21 Jan 2021 - contr report.pdf (100.0 KB)

  • Attendees
    • Aaron Blasdel, Emerson Knapp - AWS RoboMaker
    • Lyle Johnson, Apex.AI
    • Brian Gerkey, Chris Lalancette, Kat Scott, William Woodall, Tully Foote, Geoff Biggs - Open Robotics
    • Ian McMahon - Toyota Research Institute
    • Joe Speed - ADLINK
    • Tomoya Fujita - Sony
    • Jaime Martin Losa - eProsima
    • Andrei Kholodnyi - Wind River
    • Sean Yen - Microsoft
    • Steve Macenski - Samsung Research
    • Karsten Knese - Bosch
    • Will Son - ROBOTIS
    • Dave Coleman - PickNik
    • Lokesh Kumar Goel - LG Electronics
    • Jerry Towler - SwRI, representing GVSC
    • Harold Yang - Intel
    • Nick Fragale - Rover Robotics
    • Jilada Eccleston - TierIV
  • Preliminaries
    • [Gerkey][5 mins] Welcome to new members
    • [Gerkey][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
  • Old business
    • [Gerkey][15 mins] Present and discuss proposal for member tenure
      • 5 minute presentation plus 10 min open discussion
      • Interest in keeping FTE basis for membership
      • Potential for other updates that a subgroup can explore further
      • Will conduct a vote to raise the membership cap, together with a commitment to consider other changes.
    • [Macenski][10 mins] Adopt changes for TSC charter on Confidentiality after resolving member concerns
      • Will conduct a vote on the proposed change.
  • New business
  • Recurring business
    • Next ROS 2 distro release
      • [Lalancette][10 mins] Updates on Galactic
        • REP-2000 update went in
          • C++17
          • macOS tier 3
        • Default middleware changed to CycloneDDS
        • 3 community committers given access to ros2/ repos
          • Will re-run the process every ~3 months to find new committers
          • Documented here: Contributing
        • Galactic timeline: ROS 2 Galactic Geochelone (codename ‘galactic’; May, 2021)
          • Preliminary testing starts March 22
          • API/feature freeze on April 5
            • Only bugfixes accepted after that
        • Eloquent final sync done
          • Now deprecated
    • Working groups [<5 mins each]
      • [Knese] Control
        • First release of ros2_control and ros2_controllers in Foxy
        • Gazebo_ros_control pkgs on the way
      • [Speed] Edge AI
        • Skipped because holiday + Indy Autonomous Challenge conflict
      • [Martin Losa] Embedded
      • [Coleman] Manipulation
        • World MoveIt Day will be March 10th 2021
        • Lots of issues / limitations with CI and Dockerhub
        • Lots of collaboration between MoveIt2 and ros2_control team
        • Progress on Universal Robot ROS 2 driver
        • Creating long term roadmap for MoveIt development
        • New MoveIt maintainers (admins) added: Joachim, Felix, Ferguson, Zelenak, Jafar
      • [Macenski] Navigation
        • Regulated Pure Pursuit (Pull requests · ros-planning/navigation2 · GitHub) PR likely to land before the next meeting bringing Controller options to 3
        • Lazy Theta* (https://github.com/ros-planning/navigation2/pull/1839) PR likely to land before next meeting bringing Planner options to 4
        • Overall a light month given the holidays and EOY/SOY activities
        • 2021 Project themes:
          • Task Server Plugin Completion
            • Have controllers and planners that are optimized for every major class of robot
              • Legged (done)
              • Ackermann (done)
              • Differential (needs non-circular)
              • Omni (needs non-circular)
              • All above as both circular and arbitrary shaped
          • Positioning System Support
            • Support a first-class vendor for all SLAM and localization styles
              • 2D (done)
              • 3D (in progress)
              • Visual (in progress)
              • GPS / global positioning (in progress)
          • Continuation
            • Complete on-going high-impact 2020 activities
              • Dynamic obstacle tracking / avoidance (help requested)
              • GPS support (help requested)
              • RADAR standardization and support (in progress)
              • Technology demonstrations (help requested)
              • Speed restricted zones (in progress)
      • [Johnson] Real-time
      • [Biggs] Safety
        • Held a series of talks on producing correct and understandable requirements.
        • The Safety WG would like to add content to REP 2004. Is this REP still under the management of the Quality WG?
      • [Fazzari] Security
        • (skipped)
      • [Blasdel & Knapp] Tooling
      • [Woodall] Middleware
        • No updates since last TSC Meeting, several WG meetings were skipped due to holidays and lack of agenda items.
        • Work continues on the iRobot proposed changes to the executor design.
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