ROS 2 TSC Meeting Minutes: 2021-10-28

[Katherine_Scott]

ROS 2 TSC Meeting Minutes 2021-10-28

Contribution Report
ROS 2 TSC Contribution Report 2021-10-28.pdf (167.0 KB)

• Action Items

  • Please vote on RMW for Humble
  • Please participate in continued discussion on discourse.
  • Kat will submit draft for updated TSC community rep for Nov meeting.
  • Please help with the new ROS.org.

• Attendees

  • Open Robotics - Chris Lalancette, Kat Scott, Geoff Biggs, William Woodall, Audrow Nash, Louise Poubel, Tully Foote
  • Bosch - Ralph Lange
  • ROS-I: Christoph Hellmann and Matt Robinson
  • Apex.AI - Lyle Johnson
  • ROBOTIS - Will Son
  • Rover Robotics - Nick Fragale
  • Samsung Research - Steve Macenski
  • eProsima - Jaime Martin Losa
  • Toyota Research Institute - Ian McMahon
  • PickNik - Dave Coleman, Vatan Tezer, Tyler Weaver
  • Microsoft - Lou Amadio
  • LG Electronics - Herb Kuta
  • ADLINK - Joe Speed
  • Canonical - Jeremie Deray
  • Sony - Tomoya Fujita
  • AWS - Emerson Knapp, Aaron Blasdel
  • iRobot - Alberto Soragna, Mauro Passerino
  • SwRI - Jerry Towler (representing GVSC)

• Preliminaries

  • [Kat][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
  • [Kat][3 min] ROS World Recap

• Old business

  • [[Joe Speed]| 4 min ] Update on IAC Race
    • public slides for meeting minutes
  • [Kat][10 min] Welcome new community members!
    • Technically term starts 1/2022. I would like to have new members “lurk” for the next few meetings to get a feel for the process.
    • Discuss: contribution reports from community reps?
    • Kat Feedback: timeline is too short, motion to extend the election and nomination periods to two weeks.
    • 
  • [Kat/Chris/Audrow | 35 min] Humble Default RMW Selection
    • [20 min] Review executive summary of report.
    • [15 min] Discussion Please Mute
    • Vote via Discourse 10/29 through 11/12
    • Should we have a debrief during the November meeting?
    • Steve Macenski – example issue https://app.circleci.com/pipelines/github/ros-planning/navigation2/6287/workflows/36a251a4-1d66-4b5a-8091-1ca5a5881b62

• New business

  • [Kat][5 min] New ROS.org and Video beta.ros2.org (call for assistance)
  • [Dave Coleman | 15] ROS 2 Core Improvements – See discourse proposal for process improvements for Nov meeting.
  • Report reviews in document
  • [Chris Lalancette] – Linux foundation model – contribution of funding.
  • Tyler – sponsorship – but non-political
  • Steve – worried about pay to play – should have a general pool.
  • Aaron – important to set up incentive structure
  • Dave – separation of concerns (PR review, vs funding).
  • Steve – who is the “decider” on subjective PRs
  • William – Change FTE Scope – you have to do X, Y, Z.

• Recurring business

  • Next ROS 2 distro release
    • Switch Rolling to 22.04
      • Will start to happen once Debians + Docker images available from Canonical
      • Debians somewhat available, Docker not yet
      • Basic plan
        • Add a new 22.04 Rci job to https://build.ros2.org, iterate on it until have a working build
        • Add support for 22.04 to https://ci.ros2.org
        • Migrate Rolling binary builds (Rbin) to 22.04
        • Tyler: C++ 20?
          • Probably I turtle
    • Roadmap items
      • Open Robotics
        • System-level debugging tool - Initial version available at GitHub - ros2/ros_network_viz
        • rosdoc2 Python support: PR open at Add support for python-only projects by aprotyas · Pull Request #28 · ros-infrastructure/rosdoc2 · GitHub
        • Documentation inter-package linking - not started
        • C++ API documentation - lots of work done to get rclcpp working
          • Revamp default Sphinx project by hidmic · Pull Request #33 · ros-infrastructure/rosdoc2 · GitHub
          • https://github.com/ros2/rclcpp/pull/1779
          • Handle decltype(*) return types in declinfo.l by hidmic · Pull Request #8799 · doxygen/doxygen · GitHub
          • Allow no-link option in doxygenpage by hidmic · Pull Request #748 · michaeljones/breathe · GitHub
          • Handle specialized template functions by hidmic · Pull Request #750 · michaeljones/breathe · GitHub
          • Handle scoped C++ enums by hidmic · Pull Request #753 · michaeljones/breathe · GitHub
          • Add support for Doxygen pages by hidmic · Pull Request #114 · svenevs/exhale · GitHub
          • Handle specialized template functions by hidmic · Pull Request #117 · svenevs/exhale · GitHub
          • Escape '*' in template page titles. by hidmic · Pull Request #118 · svenevs/exhale · GitHub
        • Service and action reliability - not started
        • RViz2 stability
          • Lots of work done here, still at least one known open crasher at rviz2 randomly crashes while running with nav2 stack · Issue #703 · ros2/rviz · GitHub
        • Zenoh report - not started
        • Overlays - lots of investigation done in Overlaying packages using CMake export targets can fail with merge install underlay · Issue #1150 · ros2/ros2 · GitHub
        • Launch testing revamp - almost ready to be merged in First prototype of native pytest plugin for launch based tests by ivanpauno · Pull Request #528 · ros2/launch · GitHub
      • Sony
      • iRobot
      • AWS
      • Apex.AI
      • Moveit2
      • Nav2
  • Working groups [<=5 mins each]

    • [Bence] Control (fix doc auth)

      • Working on fixing Gazebo support on Galactic
      • Quality of life improvements for Foxy and Galactic
      • Preparing branching for Galactic, master branches to support Rolling soon
      • Breaking changes for move to Rolling

    • [Speed] Edge AI

      • no meetings because Indy Autonomous Challenge

    • [Martin Losa] Embedded

      • Presentation by Juan Manuel Jimeno on Building a ROS2 robot with micro-ROS
      • embeddedRTPS: the new experimental middleware for micro-ROS
        • ROS Discourse Announcement
        • Alexandru Kampmann will make a brief overview of embeddedRTPS
        • Pablo Garrido will make a brief overview of rmw_embeddedrtps for micro-ROS

    • [Coleman] Manipulation

      • Possibly switching to Zenhub for issue tracking and roadmaps
      • Addressing issues with panda_moveit_config
      • Refactoring MoveIt 2 controller manager
      • Hybrid planning is progressing with welding application
      • Upcoming MoveIt Community Meeting in Q1 2021
      • Initial port of MoveIt Setup Assistant underway

    • [Woodall] Middleware

      • Meeting notes and recordings:
        • Middleware Working Group - Agenda and Meeting Notes - Google Docs
      • Talked about potential issue with Service QoS
      • Talked about potential issue with how ROS_LOCALHOST_ONLY is implemented differently in various rmw implementations.
      • Update on iRobot Event Executor’s queuing design/behavior
      • Discussed use and recommendation of LoanedMessage
      • Discussed design of subordinate node’s
      • Discussed option for dedicated executor (in dedicated thread) for built-in node operations.

    • [Macenski] Navigation

      • Surpassed the number of contributors to ROS 1 Navigation in Nav2 this month!
      • Continuing to try to push PRs in TF and rclcpp we need merged!
        • Isolate timer interface by gezp · Pull Request #447 · ros2/geometry2 · GitHub
        • add use_global_arguments for node options of component nodes by gezp · Pull Request #1776 · ros2/rclcpp · GitHub
        • support dedicated executor for component nodes by gezp · Pull Request #1781 · ros2/rclcpp · GitHub
      • VSLAM integration and Smac State Lattice planner work continuing! Starting to get MVP-quality demos going (still a few kinks and tuning to work out; whoof that giggling)
        
      • After some discussions with community members, ran a poll on LinkedIn to get an understanding of preferences for building autonomy systems and received a good response on Behavior Trees. @MoveIt might want to take note of this
      • Generalized localization framework work continuing thanks to a multi-company multi-volunteer effort!
      • Merged in Windows compatibility
      • New bots setup to help in maintainer boilerplate needs with Mergify – Check it out! It’s going to help save us some time
        • Backporting PRs
        • Commenting to submitters that their PR is in conflict and must be resolved before review
        • Commenting to submitters that their PR fails to build and must be resolved before review
        • Commenting to maintainers if submitter fails to properly fill in template and give review template anyway
        • Auto-deleting head branches
        • Rejecting PRs from non-white-listed submitters to non-main branches

    • [Kholodnyi] Real-time

    • [Biggs, Fernandez] Rust

      • Working group meeting held on the 13th of October
        • Primary topic was discussion between authors of the two Rust client libraries about how to cooperate
        • ros2_rust will drop its message generation pipeline in favor of r2r’s
        • r2r will test the colcon-cargo integration
        • ros2_rust and r2r will combine efforts
      • rclrs now supports Galactic and Rolling
      • jhassold is fleshing out the API to be more Rusty
      • The API is being made as no_std as possible to support embedded use cases

    • [Biggs] Safety

      • Held an on-demand meeting on the 6th of October.
      • Northstar Robotics is planning on open-sourcing nodes useful for safety management.
        • A geofence node for specifying geofences and keep-out zones
        • A 3D perception algorithm for a 3D camera that can identify what safety zone an obstacle is in
      • These nodes are safety-certifiable level of quality (Northstar has safety-certified versions).

    • [Deray] Security

      • – no meeting this month | nothing to report –

    • [Knapp] Tooling

      • Snapshot mechanism complete, released in Rolling
      • “Rosbag2 for power users” talk at ROSWorld - new sample plugins repo GitHub - ros-tooling/rosbag2_sample_plugins: Sample plugins for rosbag2 - part of ROSWorld2021 talk "rosbag2 for power users"
      • Rosbag2 playback - Seek and keyboard controls hooked up and released in Rolling
      • Some work on Windows support for setup-ros github action

    • [Knapp] WebTools

      • ROS 2 work by Foxglove - working Rolling build, test fixes, ports from ros1 functionality. Adding and fixing tests.