ROS 2 TSC Meeting Minutes 2022-04-21

ROS 2 TSC Contribution Report 2022-04-21 - Google Docs.pdf (104.6 KB)

ROS 2 TSC Meeting Agenda 2022-04-21

  • Attendees

    • Open Robotics - Chris Lalancette, Audrow Nash, Kat Scott, William Woodall, Louise Poubel, Geoffrey Biggs
    • Apex.AI - Lyle Johnson
    • Community Rep - Olivier Michel
    • Bosch - Ralph Lange
    • SwRI (Representing GVSC) - Jerry Towler
    • eProsima - Jaime Martin Losa
    • PAL Robotics - Séverin Lemaignan
    • ROBOTIS - Will Son
    • Toyota Research Institute - Ian McMahon
    • Patrick Musau - Community Rep
    • Brett Aldrich - Community Rep
    • Jeremie Deray (artivis) | Canonical
    • Lou Amadio - Microsoft Corp
    • Amazon - Aaron Blasdel, Camilo Buscaron, Emerson Knapp
    • Sony - Tomoya Fujita
    • Foxglove - Adrian Macneil
  • Preliminaries

    • [Kat ][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
    • [Kat] ROSCon sponsorship still open / CFP opens soon
    • [Kat] Ignition rebrand, returns to Gazebo
    • [Kat] Humble release 2022/5/23
  • Old business

  • New business

  • Recurring business

    • Next ROS 2 distro release
      • Humble release
        • Humble buildfarm stood up, building packages right now
        • Will branch off sources this week
          • At that point, Rolling will be open for new contributions for I-Turtle
          • Also, complete feature freeze of all Humble packages up to desktop; only bugfixes at this point.
        • Internal testing/fixing begun
        • Call for Beta testing will go out next week
      • As usual, did quarterly check for new committers → None came up this time
    • Working groups [<=5 mins each]
      • [Bence] Control
        • Going to turn ControllerManager into LifecycleNode
        • Multi-distro documentation on control.ros.org coming up soon
        • Code-quality improvements
          • Code-reading sessions
          • General refactoring: clearer function names, better testability (unit & rostest)
        • Joint-limits library making a comeback
        • All transmission loaders are available now
        • ChainableController on the way for Humble!
      • [Angelo Corsaro] Edge AI
      • [Martin Losa] Embedded
        • Agenda for the next Embedded meeting (Tuesday the 26th of April at 5 pm CEST):
        • Learn about how to extend the micro-ROS stack to bring it on AUTOSAR-based control units
          • Presentation on “Modeling and Timing Analysis of Micro-ROS Applications on an Off-Road Vehicle Control Unit” by Suraj Rao Bappanadu - MSc thesis researcher in Bosch
        • Learn how micro-ROS R&D initiative transitioned to industry
          • ROS 2 variant for MCUs: micro-ROS origins
          • micro-ROS community & industrial customers
      • [Henning Kayser] Manipulation
        • MSA migration almost completed
        • GSoC: currently reviewing proposals of 13 candidates
        • World MoveIt Day coming up: May 26th (tentatively)
      • [Woodall] Middleware
        • No updates since last meeting.
      • [Macenski] Navigation
      • [Andrei] Real-Time
      • [Biggs] Client libraries
        • Emerson Knapp has requested that libstatistics_collector be moved from ros2_tooling to the ros2 organisation, due to it being a dependency of rclcpp and the Tooling WG not wanting to maintain a core dependency
        • Discussion on the verbosity of ROS 2 client library APIs and the impact of this on code quality and application development
        • Topic statistics appear to only be implemented in rclcpp, not rclpy. Is this a candidate for pushing down to rcl, e.g. “librcl_statistics”?
        • Proposal to optimise intra-process communication for services
      • [Biggs] Safety
        • No updates this month
      • [Deray] Security
      • [Macneil] Web
        • Fixing CI failures for rolling (likely due to Jammy update)
        • Added support for best-effort QoS in Foxglove
        • Requests for parameter support in rosbridge, but no one currently working on it
        • Still trying to figure out who owns robotwebtools.org
      • [Knapp/Blasdel] Tooling
        • Working on rosdistro packaging for rosbag2_storage_mcap, just finalizing details of vendor packages
        • On hiatus until late May due to vacation