ROS 2 TSC Meeting Minutes: 2021-9-16

[Katherine_Scott]

ROS 2 TSC Meeting Minutes: 2021-09-16

ROS2TSCContributionReport2021-09-16.pdf (163.2 KB)

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Actions Items

• Note that the next TSC meeting is being moved to 2021-10-28T15:00:00Z to acomodate ROS World.
• Please join us at ROS World and submit a lightning talk video.
• Add your Humble roadmap items to the master roadmap.
• Community representative election: please recommend potential representatives, especially those from underrepresented groups.
• The October meeting does not have a speaker. Please make a recomendation.

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• Attendees
  • Andrei Kholodnyi, Wind River
  • Open Robotics – Kat Scott, Tully Foote, Audrow Nash, Louise Poubel, Chris Lalancette, Geoff Biggs
  • Samsung Research - Steve Macenski
  • Bosch - Ralph Lange
  • Apex.AI - Sumanth Nirmal
  • ADLINK - Joe Speed
  • AWS - Emerson Knapp, Aaron Blasdel
  • Canonical | Jeremie Deray (artivis)
  • Microsoft - Lou Amadio
  • LG Electronics - Herb Kuta, Hadi Tabatabaee
  • Tomoya Fujita - Sony
  • PickNik - Dave Coleman, Joe Schornak
  • Alberto Soragna - iRobot
  • Jaime Martin Losa - eProsima
  • Jerry Towler - SwRI, representing GVSC
  • Will Son - ROBOTIS
• Preliminaries
  • [Kat][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
  • [Kat|1min] Community Representative Election Starts 9/24
  • [Kat|1min] New BOSCH representative Ralph Lange replaces Karsten
  • [Kat|1min] RMW Report Update
• Old business
  • [Kat|1min] ROS Industrial Membership
• New business
  • [Kat][2min] October TSC meeting conflicts with ROS World.
    • Proposal: move meeting to 10/28 at the same time.
    • No objections
  • [Kat][1min] ROS World Update ROS World 2021
    • Lightning Talk Call posted (only 2 weeks left)
    • Program announced and registration open
  • [Kat/Steve][3 min] Discuss: shorten WG updates to encourage longer / more discussion.
    • Trial – New business is 15 minutes longer for next meeting. [PASSED]
  • [Joe Speed][2 min] Join us at Indy Autonomous Challenge Oct 23rd
    • indyautonomouschallenge.com
  • [Joe Speed][3 min] open source SOAFEE and development platform for automotive, robotics, industrial K
    • soafee.io
    • adlinktech.com/en/soafee development platform for SOAFEE
    • Computer Weekly - Volkswagen Signs Up To Arm Software Defined Car Standard
    • Electronics Weekly - SOAFEE Development for Automotive Functional Safety
    • Venturebeat - Arm Launches Hardware Platforms for Software Defined Cars
    • Forbes - SOAFEE New Standard Software Framework For Automotive
    • siliconangle - Architecture Will Bring Cloud Native Capabilities Automotive Apps
    • ZDnet - Arm Lays the Groundwork for the Software Defined Vehicle
    • Tom’s Hardware - ADLINK Launches Miniature 80-core Platform
  • [Kat][10 min] Metrics Report (DELAYED UNTIL TO OCTOBER)
  • [Hadi T. (LG)][20 min] SVL Simulator + Nav 2 Presentation
  • [Dave][3min+] PickNik Video
  • [Audrow][1 min] www.sensethinkact.com podcast just put out the 2nd episode with Dave. Please watch, subscribe, and share. Feedback and suggestions are welcome.
• Recurring business
  • Next ROS 2 distro release
    • Humble Default DDS provider
      • Default DDS provider template | TSC-RMW-Reports
      • Template provided to ADLINK and eProsima on August 31
      • First draft of response due back to Open Robotics on September 20
      • Final response due on October 4
      • Open Robotics will do editing, etc. and deliver report to TSC on October 12, for discussion at the October 21 TSC meeting
    • Humble Roadmap items
      • Roadmap — ROS 2 Documentation: Rolling documentation
        • System debug tool - In Progress
          • https://github.com/ros2/ros_network_viz/
        • rosdoc2 Python API support - In Progress
          • https://github.com/ros-infrastructure/rosdoc2/pull/28
        • rosdoc2 inter-package linking - Not started
        • Upload C++ API documentation - In progress
          • Fix up documentation build for rcl when using rosdoc2 by hidmic · Pull Request #932 · ros2/rcl · GitHub
          • Include rmw_event_t instead of forward declaring it by hidmic · Pull Request #933 · ros2/rcl · GitHub
          • Fix up errors in doxygen documentation. by clalancette · Pull Request #311 · ros2/rmw · GitHub
          • Fix up documentation build for rmw when using rosdoc2 by hidmic · Pull Request #313 · ros2/rmw · GitHub
          • Fix up rmw_dds_common documentation when using rosdoc2 by hidmic · Pull Request #54 · ros2/rmw_dds_common · GitHub
          • Update the documentation to be more consistent. by clalancette · Pull Request #331 · ros2/rcutils · GitHub
          • Stop double-defining structs. by clalancette · Pull Request #333 · ros2/rcutils · GitHub
          • Fixing up documentation build when using rosdoc2 by wjwwood · Pull Request #344 · ros2/rcutils · GitHub
          • Include `rcppmath` utilities in docs/FEATURES.md by aprotyas · Pull Request #136 · ros2/rcpputils · GitHub
          • Improve documentation of utilities in docs/FEATURES.md by aprotyas · Pull Request #137 · ros2/rcpputils · GitHub
          • https://github.com/ros2/rcpputils/pull/138
          • https://github.com/ros2/rcpputils/pull/139
          • https://github.com/ros2/rcpputils/pull/141
          • https://github.com/ros2/rcpputils/pull/142
          • https://github.com/ros2/rcl_logging/pull/80
        • Improve service and action reliability - Not started
        • Improve RViz2 Stability - In Progress
          • https://github.com/ros2/rviz/pull/710
          • https://github.com/ros2/rviz/pull/726
          • https://github.com/ros2/rviz/pull/731
          • https://github.com/ros2/rviz/pull/734
          • https://github.com/ros2/rviz/pull/736
          • https://github.com/ros2/rviz/pull/742
          • https://github.com/ros2/rviz/pull/743
          • https://github.com/ros2/rviz/pull/744
          • https://github.com/ros2/rviz/pull/745
        • Default middleware selection - In Progress
        • Report on Zenoh as an RMW - Not started
          • Zenoh ROS 2 DDS bridge bloomed for Rolling
        • Overlay fixes - In Progress
        • Revamp Launch Testing - In Progress
          • https://github.com/ros2/launch/pull/528
  • Working groups [<=5 mins each]

    • [Bence] Control

      • Master branch still targeting first Galactic release, holding off for a few more breaking changes (API tidy-up and enabling new features) before first release
        • Per-controller update-rate
        • Lifecycle for hardware components (either full lifecycle or just start/stop)
        • Lifecycle for nodes w/o services
      • Once released for Galactic will create galactic branch and master moves to Rolling
      • Now serving doxygen from control.ros.org deployment
      • Extended rviz2 plugin for wrench with checkbox to enable handling NaN values as 0s (off by default)
      • Started preparing for ROS World presentation

    • [Speed] Edge AI

      • WG on hiatus until after IAC Oct 23rd

    • [Martin Losa] Embedded

      • No update. Next WG is Sept 28th.

    • [Coleman] Manipulation

      • New MoveIt Benchmark Suite
      • MoveIt is branching off for Foxy
      • MoveIt Setup Assistant 2.0 is mostly done
      • Improvements to how we use Docker and released version numbering
      • We are losing one of our top maintainers - Felix. Rushing to get all his PRs merged in before he starts a new job.

    • [Woodall] Middleware

    • [Macenski] Navigation

      • Release update for Galactic including a few bug fixes, user protections, and the simple commander package.
      • Incremental improvements, nothing worth specifically highlighting.
      • Need maintainer action on TF2 and RCLCPP, really need reviews, Zhengpeng’s program ends in 2 weeks!
        • TF: https://github.com/ros2/geometry2/pull/447
          • Isolate TF timer from rest of application
        • TF: https://github.com/ros2/geometry2/pull/442
          • Killing an internal node to listener with executor
        • Rclcpp: https://github.com/ros2/rclcpp/issues/978
          • Protections from settings that are necessary to use Nav2 (and denying consistent default behavior in only this component container context)
        • Rclcpp: https://github.com/ros2/rclcpp/issues/1774
          • Rclcpp component containers are flawed to building applications, ran into needing N-single threaded executors, forcing many (several companies I shouldn’t publicly name) to do manual composition + Nav2. This will make the component containers more useful for real complex systems.

    • [Andrei Kholodnyi] Real-time

      • Create real-time workshop content
      • A ready-to-use RT Kernel for Raspberry Pi4 available https://github.com/ros-realtime/rt-kernel-docker-builder/actions/runs/1228616347
        • Integrated Lttng kernel modules
        • Ros2_tracing - https://github.com/christophebedard/ros2_tracing
      • A Reference system - https://github.com/ros-realtime/reference-system based on Autoware.auto
      • Info: RT preempt patches are in 5.15 kernel Realtime preemption locking core merged [LWN.net]
      • Info: https://github.com/NXP/dds-tsn

    • [Biggs] Rust

      • Another Rust client has appeared, r2r
        • Release: rust ROS2 library r2r
      • r2r uses a significantly different approach to rclrs, with its own benefits (particularly for asynchronous code)
      • There is interest from both the r2r authors and the rclrs authors in collaborating

    • [Biggs] Safety

      • No activity

    • [Deray] Security

      • Held WG meeting on the 14th Sept
      • PKCS#11 implementation on-going in Fast-DDS; ETA end of the year. We’ll need to discuss SROS2 integration.
      • Resuming exploratory work on using external CA setup. SROS2 would create the domain participant key and cert requests and an external PKI service runs the CA (thus replacing SROS2 local CA)

    • [Blasdel/Knapp] Tooling

      • Rosbag2 delivered:
        • Added API samples package for Foxy and Galactic (Rolling to come), mentioned in documentation
        • First pass jump/seek API
      • Rosbag2 features in progress:
        • Playback: jump/seek
        • Playback: Keyboard controls
        • Recording: snapshot mode (in-memory)
        • Playback: use-sim-time (subscribe to /clock for time source)
        • Rewriter: input bag(s) → output bag(s) with different settings (split/merge/convert/filter feature)

    • [Knapp] WebTools

      • Discussing re-brand of rosbridge to make it less confusing with ros1_bridge. So far ros-web-bridge is the most popular choice
      • Rosbridge suite released into Foxy and Galactic - working on a Rolling release as well
      • Looking into getting ownership of ros-web or rosweb GitHub organizations, to consider matching of other working groups (vs RobotWebTools)
      • Applying Action CI and ROS2 linters to rosbridge_suite code - cleaning up!