ROS 2 TSC Meeting Minutes: 2021-11-18
ROS 2 TSC Contribution Report 2021-11-18.pdf (123.3 KB)
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Attendees
- Jaime Martin Losa, eProsima
- Herb Kuta, LG Electronics
- Lyle Johnson, Apex.AI
- Chris Lalancette, Audrow Nash, Kat Scott, Tully Foote, Geoff Biggs, William Woodall, Louise Poubel - Open Robotics
- Alberto Soragna - iRobot
- Ian McMahon - Toyota Research Institute
- Ralph Lange - Bosch
- Joe Speed, Angelo Corsaro - ADLINK
- Dave Coleman, Tyler Weaver - PickNik
- Jerry Towler - SwRI, representing GVSC
- Lou Amadio - Microsoft
- Nick Fragale - Rover Robotics
- Steve Macenski - Samsung Research
- Chen Bainian, Darryl Lee - ROS Industrial Consortium
- Aaron Blasdel, Emerson Knapp - AWS Robotics
- Tomoya Fujita - Sony
- Will Son - ROBOTIS
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Preliminaries
- [Kat ][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
- [[nick @ Rover Robotics] 5 min] – Rover resigns from TSC as the company’s technical direction has changed.
- [Joe Speed| 3 min] Angelo Corsaro will replace Joe Speed as ADLink’s representative
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Old business
- [ Kat | 5 min ] Humble Default RMW Results
- [ Chris / Kat / Audrow | 15 min ] Debrief Default RMW Process
- OMG only provides interoperability benchmarks
- Angelo Corsaro - need third party test suite and evaluation
- GitHub - ros-realtime/reference-system: A reference system that simulates real-world systems in order to more fairly compare various configurations of executors and other settings
- https://build.ros2.org/view/Rci/ is where all of the nightly CI jobs for the different vendors are.
- Aaron suggests creating a standard framework for DDS vendors to compete and improve and separate the process from the TSC’s focus.
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[Dave Coleman + team | 25 Min] Debrief PR Review
- Discourse thread.
- Proposal: each TSC member is assigned one repository (or sub-section) that they are responsible for review
- Tyler: how do we make this a durable sort of relationship.
- What is the buy in process for design vs bug fix?
- How do we do conflict resolution?
- Tyler: we just need more people –
- Emerson is updating the contribution script.
- Examples
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New business
- There’s interest from some members about using 20.04 build from source for Rolling/Humble strictly from source, not changing official supported platforms.
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Recurring business
- Next ROS 2 distro release
- Switch to Ubuntu 22.04 - Now have 22.04 debs and containers
- Public plan is in Transition Rolling to Ubuntu 22.04 · Issue #1221 · ros2/ros2 · GitHub
- Have done a test build on 22.04 container already
- With some minor fixes to our code, everything builds
- Remove the use of malloc hooks from the tlsf_cpp tests. by clalancette · Pull Request #109 · ros2/realtime_support · GitHub
- Remove the malloc_hook from the pendulum_demo. by clalancette · Pull Request #544 · ros2/demos · GitHub
- Add in a new SIP location for Ubuntu 22.04. by clalancette · Pull Request #109 · ros-visualization/python_qt_binding · GitHub
- One issue in Jammy itself causing build and run failures with anything using OpenCV: Bug #1949362 “gdalinfo returns undef_symbol” : Bugs : gdal package : Ubuntu
- With some minor fixes to our code, everything builds
- Humble Roadmap
- 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
- [WIP] Fix rclcpp documentation build by hidmic · Pull Request #1779 · ros2/rclcpp · GitHub
- 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 - in progress
- 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 - Merged in First prototype of native pytest plugin for launch based tests by ivanpauno · Pull Request #528 · ros2/launch · GitHub
- Sony
- Wait for Acknowledge (almost finished)
- Content Filtered Topic
- iRobot
- Event executor package
- Support of Conan packages
- More support for pure CMake packages (no colcon)
- AWS
- rosbag2 snapshot mode
- Simulation time to control playback
- rosbag2 convert utility
- Message definitions on the wire might get pushed
- Apex.AI
- Evolving message types over time - XType support forward and backward compatibility
- Bosch:
- Multithreaded Executor for rclc
- Guard conditions for rclcpp Executor
- Various improvements to diagnostics
- MoveIt2
- Hybrid planner
- Better use of ROS 2 features (component nodes, parameters, etc)
- Nav2
- State Lattice
- Increased documentation
- Increased stability and testing
- Move dev to rolling
- Open Robotics
- Switch to Ubuntu 22.04 - Now have 22.04 debs and containers
- Working groups [<=5 mins each]
- [Bence] Control
- Discussing/designing hardware component lifecycle
- Relevant for: calibration, homing, communication setup
- Started discussions on async controllers and hardware components support
- Introduced “good-second-issue” tag
- What Time is it?
- Controller commands w timeout stamp → inconsistent clock type?
- Will meditate more on this → get in touch if you have good practices
- Increasing support on ros answers for ros2_control
- Discussing/designing hardware component lifecycle
- [Speed] Edge AI
- We can close this WG. It has been on hiatus during IAC anyway.
- [Martin Losa] Embedded
- This month the TSC meeting happens before the embedded WG. So no update this month.
- The agenda for November meeting is:
- Presentation by Arne Nordmann from Bosch on Diagnostics
- Presentation by Patrick Roncagliolo on RTEMS RTOS Support
- Benchmarks of micro-ROS Galactic by Tomasz Kolcon and Alex Malki from PIAP
- Latest enhancements
- Miscellaneous
- [Coleman] Manipulation
- MoveIt2 tutorials are now deployed with the same multiversion system as the official docs.
- Hybrid planner is getting close to being merged.
- Bug fixes.
- Syncing changes from MoveIt1 continues.
- [Woodall] Middleware
- Minutes and Agenda: Middleware Working Group - Agenda and Meeting Notes - Google Docs
- Had a post-ROS World discussion about the executor workshop and ideas for moving forward.
- Discussed a pattern for dealing with overflow in the event queue of the Event Executor proposed by iRobot
- [Macenski] Navigation
- Seeing increased traffic to Nav2 with new users and users filing more tickets – would be nice to get some assistance if any other TSC companies rely on Nav2 and could commit some resources!
- Continuing to try to push PRs in TF and rclcpp we need looked at! (3 months and running)
- Merged in Nav2 State Lattice Planner Beta
- Merged in Path Smoother server
- navigation2/nav2_smoother at main · ros-planning/navigation2 · GitHub
- Still pending useful integration (e.g. plugin types coming and BT updates to utilize)
- Incremental progress on 2D/3D localization framework, new MCL implementation demo
- Fixed various flaky tests; release tests now totally in the green
- Plugin-ized AMCL motion models
- Several new algorithms and packages supporting dynamic parameters
- [Andrei] Real-time
- Videos from the ROS World 2021 executor workshop are published here https://www.apex.ai/roscon-21
- There is a reference system to measure latencies and performance GitHub - ros-realtime/reference-system: A reference system that simulates real-world systems in order to more fairly compare various configurations of executors and other settings
- We want to build an image with a ROS RT setup GitHub - ros-realtime/ros-realtime-rpi4-image
- [Biggs, Fernandez] Rust
- Work continues on integration between colcon and cargo
- Planning a WG meeting on the 24th. All interested please join.
- [Biggs] Safety
- Would like to conduct a poll on safety practices. Will coordinate with Kat.
- [Deray] Security
- November meeting minutes
- Presentation from SwRI related to the usability blind spots of SROS2
- PKCS#11 update; work going on, expected initial demo in January
- DDS security related talk at Black Hat Europe conference
- Start discussion around a security reference implementation
- November meeting minutes
- [Blasdel/Knapp] Tooling
- Topic tools ports have started coming in - “relay” merged, “transform” in progress
- “Start-paused” for ros2 bag play
- Keyboard control for rosbag2 playback rate
- In progress: “ros2 bag convert”. Implementation almost done
- [Knapp] Web
- Handed off working group ownership to Adrian Macneil from Foxglove. Emerson still participating but not owning
- Added RobotWebTools projects to REP 2005 (rosbridge_suite, rclnodejs most notably)
- Ongoing Rolling migration
- Planning Nodejs upgrade to v16 - rclnodejs currently on v12
- [Bence] Control
- Next ROS 2 distro release