ROS 2 TSC Meeting Minutes 2022-12-15

[Katherine_Scott]

ROS 2 TSC Meeting Minutes 2022-12-15

As requested by the community, and In the interest of more transparency, I am going to start reporting missing contribution reports and unannounced absences.

ROS 2 TSC Contribution Report 2022-12-15.pdf (138.4 KB)

Contribution reports were not submitted by Canonical ( @Jeremie), Microsoft (@ooeygui) Robotis (@WillSon) , Amazon (@Cam_Buscaron), Windriver (@razr) , and Devcom (@jatowler). They are welcome to add late contribution reports in the comments below.

• Action Items for next meeting:

  • Action Item: Cam requests I-Turtle Roadmap Review in January
  • Action Item: Intrinsic to speak on commitment to ROS in January

• Attendees

  • Geoffrey Biggs, Vanessa Yamzon Orsi - Open Source Robotics Foundation
  • Kat Scott, Tully Foote, Chris Lalancette, William Woodall - Open Source Robotics Corporation
  • Community Representative: Olivier Michel
  • Community Representative: Francisco Martín Rico
  • Community Representative: Brett Aldrich
  • Ian McMahon - Toyota Research Institute
  • Bosch: Ralph Lange, Christian Henkel
  • Jaime Martin - eProsima
  • Lyle Johnson — Apex.AI
  • Henning Kayser, Tyler Weaver, Dave Coleman - PickNik
  • Jerry Towler - SwRI (representing GVSC)
  • Steve Macenski - Samsung Research
  • Will Son - ROBOTIS
  • Michael Orlov - ApexAI
  • Tomoya Fujita - Sony
  • Alberto Soragna - iRobot
  • Aaron Blasdel, Camilo Buscaron - Amazon
  • Matt Robinson - ROS-I/SwRI
  • Angelo Corsaro, ZettaScale
  • [16 out of 22 members] – Only one member notified me of their absence.
  • Absent: @musaup, @amacneil, @hyang5, @iantheengineer, @jeremie
  • @razr notified me he would be absent.

• Preliminaries

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

• Old business

  • [Kat][15 min] TSC Community Representative Election Results
    • Francisco Martín Rico won the community election
    • Procedurally, we have to vote to accept the candidate.
    • VOTE: 12 Yes / [4 absent / abstain / late] / 0 No
    • Thank Brett for his service.
    • Francisco Martin Rico accepted at new TSC community representative.
  • [Kat][5 min] REP-2008 Vote Results
    • 59 Members attending community meeting but not all voted.
    • TSC discussed HAWG meeting, accepted results. REP-2008 will be merged into draft status
    • Results:
    • 

• New business

  • [Brett][10 min] Dual Arm Control with ROS 2 Control, MoveIt, SMACC
  • [Kat][10 min] Improving TSC Experience
    • Note: Kat removed this item. OSRF is working towards a new Foundation governance structure which they will present in the near future. We do not have a firm date at this time but likely Q1/Q2 2023
      * Discuss TSC Community Reps / Community Feedback
      * Expectations of representatives
      * Meeting Minutes
      * It is difficult to take notes and run the meeting.
      * Would like a Volunteer TSC Secretary
      * Take additional notes
      * Verify attendance
      * Verify empty contribution reports
      * Considering having contribution reports submitted as a spreadsheet for easier tracking.
  • [Kat / Geoff][20 min] Discuss OSRC Acquisition By Intrinsic
    • Slides
    • Links for more information:
      • Intrinsic Acquires OSRC and OSRC-SG — Open Robotics
      • Blog — Building opportunities for the world’s robotics developers | Intrinsic
      • The OSRC Team is Joining Intrinsic and What it Means for the ROS Community
      • The OSRC Team is Joining Intrinsic and What it Means for the Gazebo Community - General - Gazebo Community
      • Alphabet’s Intrinsic Acquires Majority of Open Robotics - IEEE Spectrum
      • Q&A: Brian Gerkey and Wendy Tan White on Intrinsic, Open Robotics, and ROS - IEEE Spectrum

• Recurring business

  • Next ROS 2 distro release
    • Iron
      • Opened PRs to control discovery behavior: Improve handling of dynamic discovery · Issue #1359 · ros2/ros2 · GitHub
      • CI is all green on service introspection: Service Introspection · Issue #1285 · ros2/ros2 · GitHub
      • Updated REP-2000 with platforms for Iron: Add Iron Irwini first pass by gbiggs · Pull Request #366 · ros-infrastructure/rep · GitHub
    • Galactic
      • Did Final sync: New packages for Galactic Geochelone 2022-12-09
      • EOL

• Working groups [<=5 mins each]

  • [Bence] Control

    • Ramping up work on steering_controllers package
      • Bicycle, tricycle, ackermann
    • Rolling out overlay fix in ros2_control & satellite packages soon
    • Design work on emergency stop handlers

  • [Martin Losa] Embedded

    • Canceled November meeting because no items in the Agenda, we will re-start the meetings on January

  • [Kayser] Manipulation

    • GSoC Projects ended, open PRs are still being reviewed:
      • Python Bindings
      • Simultaneous Trajectory Execution

  • [Woodall] Middleware

    • No new meetings since the last TSC meeting

  • [Macenski] Navigation

    • In focused development for release of MPPI in January
    • Added error code processing within task servers to communicate back to the behavior tree contextually information about failures for intelligent actions
    • Added Python API for costmap and collision checking
    • Expanded test coverage to a 89.6% for the year

  • [Johnson] Real-time

  • [Andrei] Real-Time

    • Absent

  • [Biggs] Client libraries

    • No updates this month

  • [Biggs] Safety

    • No updates this month

  • [Deray] Security

    • Absent

  • [Macneil] Web

    • Absent

  • [Orlov] Rosbag2 and Tooling

    • Progress in Store metadata in db3 files directly in addition to the metadata.yaml file.
    • Store db schema version and ROS_DISTRO name in db3 files
    • Moved rosbag2_storage_mcap in to the rosbag2 repo
    • Significant progress in making MCAP as default storage format for rosbag2. We are pretty close to switching from Sqlite3 to the MCAP by default.
    • Some minor bugfixes and improvements in rosbag2.
    • Deprecated and archived cross_compile repo.

[destogl]

@Katherine_Scott

[Kat][10 min] Improving TSC Experience

• Note: Kat removed this item. OSRF is working towards a new Foundation governance structure which they will present in the near future. We do not have a firm date at this time but likely Q1/Q2 2023
  * Discuss TSC Community Reps / Community Feedback
  * Expectations of representatives
  * Meeting Minutes
  * It is difficult to take notes and run the meeting.
  * Would like a Volunteer TSC Secretary
  * Take additional notes
  * Verify attendance
  * Verify empty contribution reports
  * Considering having contribution reports submitted as a spreadsheet for easier tracking.

@Katherine_Scott – thanks for considering discussion on community issues raised in
this thread.

I really appreciate that and fully understand that you couldn’t discuss those because of the forthcoming changes

Looking forward to seeing the new ideas about TSC (or what every the name of the “board” will be).

I wish you nice holidays

[Katherine_Scott]

No sweat! As the Foundation works towards building the new ROS governance structure I’ll make sure they are aware of your feedback. In the meantime I’ll try to include more detailed notes from the TSC meetings. We had a few bigger issues in the last meeting but perhaps next meeting I can designate someone as a secretary.