ROS 2 TSC Meeting Minutes: 2021-05-20

General
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ROS 2 TSC Meeting Agenda 2021-05-20

ROS 2 TSC Contribution Report - 2021-05-20.pdf (125.0 KB)

  • Attendees

    • Rob Woolley, Wind River
    • Lokesh Kumar Goel, LG Electronics
    • Chris Lalancette, William Woodall, Brian Gerkey, Tully Foote, Kat Scott, Geoff Biggs, Open Robotics
    • Erik Boasson, ADLINK
    • Will Son, ROBOTIS
    • Steve Macenski, Samsung Research
    • Sid Faber, Canonical
    • Nick Fragale, Rover Robotics
    • Ian McMahon, Toyota Research Institute
    • Tomoya Fujita, Sony
    • Orjeta Taka, iRobot
    • Jaime Martin Losa, eProsima
    • Dave Coleman, PickNik
    • Lou Amadio, Microsoft
    • Lyle Johnson, Apex.AI
    • Karsten Knese, Bosch
    • Aaron Blasdel, Emerson Knapp, Amazon
    • Jerry Towler, Southwest Research Institute (representing GVSC)

  • Preliminaries

    • [Gerkey][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.

  • Old business

  • New business

  • Recurring business

    • Next ROS 2 distro release
      • Galactic release is on Sunday!
      • Starting to think about roadmap for H-Turtle
        • Will be reaching out to TSC for thoughts there in the coming weeks
    • Working groups [<=5 mins each]
      • [Knese] Control
        • First steps towards realtime analysis in ros_control. Setup a SocketCAN hardware interface to measure latencies across process boundaries. Runtime analysis of dynamic memory allocation (hooks for malloc, calloc, free) to verify no dynamic memory allocation once controllers are active.
        • New controllers coming in, force-torque-broadcaster, admittance/impedance controllers
        • Breakout-session for chaining controllers. Looking into possible ways of transparently chaining controllers wo/ any DDS or network (c.f. Ecto, SHM, Dynamic Graph)
      • [Speed] Edge AI
        • No meetings this month.
      • [Martin Losa] Embedded
        • Micro-ROS
        • Presentation by Nuno Marques [Auterion]: “ROS 2 in PX4: current status and next steps”
      • [Coleman] Manipulation
        • New Noetic release!
        • Galactic and Rolling is compiling, with lots of upstream patches that have not been merged in yet.
        • MoveIt 2 now supports diff-drive bases
        • Have chosen a GSoC student for this year
      • [Woodall] Middleware
      • [Macenski] Navigation
      • [Andrei] Real-time
      • [Biggs] Rust
        • Several people are working on the colcon/cargo integration problem, but no satisfactory solutions have been found yet.
      • [Biggs] Safety
        • Held a presentation session in early March.
        • Safety In Off Highway Autonomous Vehicles: A case study on Autonomous Vehicles in Airports (Shawn Schaerer)
          This talk we will go over how we approach safety development at Northstar Robotics. We will also present a case study on our work on autonomous airport snow plows and how to make a 25,000 kg snow plow safe.
        • The talk was well-attended and well-received.
      • [Faber] Security
        • Good discussion on May 11 on adding pkcs11 support. Target use case is drone fleet management: keep the private keys in secure storage (e.g., a hardware security module), and use PKCS to encrypt/decrypt/sign communications. This allows the crypto back end to be fully replaceable.
        • Next step likely will be a design change to discuss how to implement pkcs: the URIs.
      • [Blasdel] Tooling
        • Agendas/Notes: ROS 2 Tooling Working Group - Google Docs
        • Created new topic_tools package - no development yet, but open for business.
        • Updated setup-ros and action-ros-ci with updated documentation, and Galactic support
        • Rosbag2
          • Recorder and Player are now public nodes, which can be used as a C++ API instead of a standalone process
          • “Play next message” control added
          • Exposed all playback time controls as services on the player node - easy control
          • Released into Galactic
          • New decision on Foxy backporting - will target concrete improvements to official foxy release - and support a branch that users can build from source against Foxy to get the more complete overhaul
        • Rosbag2_bag_v2 plugins
          • Released into Galactic - will need to re-bloom to fix a failing test