ROS 2 TSC Meeting Minutes 2023-02-16

General
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ROS 2 TSC Contribution Report 2023-02-16.pdf (119.9 KB)

ROS 2 TSC Meeting Minutes

  • Attendees

    • TSC Members
      • Apex.AI / Lyle Johnson
      • Community / Oliver Michel
      • Canonical / Jeremie Deray
      • Intrinsic / Chris Lalancette
      • OSRF / Geoffrey Biggs
      • Bosch / Ralph Lange, Christian Henkel
      • ZettaScale / Angelo Corsaro
      • Community / Francisco Martin Rico
      • Toyota Research Institute / Ian McMahon
      • Microsoft / Tim Chung
      • Picknik / Henning Kayser
      • Sony / Tomoya Fujita
      • Devcom / Jerry Towler
      • iRobot / Alberto Soragna
      • eProsima / Jaime Martin Losa
      • Foxglove / Adrian Macneil
      • ROS Industrial / Matt Robinson
      • Amazon / Camilo Buscaron
      • Wind River / Andrei Kholodnyi
      • ROBOTIS / Will Son
    • TSC Observers
      • Acceleration Robotics / Víctor Mayoral-Vilches
      • Bence Magyar
    • Absent (Please move to TSC Members Line):
      • Intel / Harold Lang
      • Samsung / Steve Macenski
      • Community / Patrick Musau

  • Preliminaries

    • [Kat ][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
    • [Kat][1 min] ROSCon 2023
      • Please consider sponsorship
      • Please note key dates.
    • [Kat][3 min] As requested by the community I will now be taking attendance and recording absent members and those who fail to submit a contribution report.
      • If you have not submitted your contribution report by the time I post the meeting notes to Discourse it will be noted in the spreadsheet.
      • If you are going to miss the TSC meeting please contact me.
      • If you are observing the TSC meeting please put yourself under the “TSC Observers” item above.
      • PLEASE FREE TO ADD NOTES IN THE AGENDA USING THE COMMENT FEATURE
      • Reminder: TSC has comment access, not edit access. Please do not request edit access.

  • Old business

    • [Geoff|5min] Adding Intrinsic to the ROS 2 TSC
      • How do we want to handle Intrinsic acquisition?
      • Any opinions / thoughts on grandfathering them in?
      • Andrei – Want to verify that they will be held to the same standard as other members
      • 15 Pro in straw poll – in favor of adding Intrinsic

  • New business

    • [Geoff|5min] Check and revision of working groups and their leaders
      • Run down working groups and if they are active
        • Client – Yes, but Geoff doesn’t have time - will figure out leaders with Alberto
        • Control – Yes
        • Edge AI – No
        • Embedded - Yes
        • Middleware - Yes
        • Navigation - Yes
        • Manipulation - Yes, change lead to Henning
        • Real-Time - Yes
        • Safety - No
        • Security - Yes
        • Rosbag2 and Tooling - Yes
        • Webtools - No
        • SpaceROS is a special case.
        • Meta-ROS is informal
      • Geoff to put call on discourse for people to add working groups
    • [Tomoya][15min] Cross-Vendor and Cross-Distro communication support.

      • Relevant Issue

      • Cross Vendor

        • We presently have cross vendor testing. This includes topics, but not services which have been disabled.
        • Interfaces not implementations.
        • Chris: DDS should figure out cross-vendor compatibilty.
        • Angelo will report back next meeting
        • Angelo – services will need RPC over DDS
        • Jaime – RMW service interface is similar with DDS-RPC but not exactly the same.
        • Chris – no one cares on implementation, make it work, Can facilitate
        • ROS-I The industrial community needs the RMW interoperability worked out, at least across the tier 1s. We are already entering the state where the robot may have nodes based on an RMW different from the system, and we will not have total control over RMW over all nodes.

      • Cross Distro – might break API / ABI – this is a bad

        • Surprising this works but can break in really subtle ways
        • Chris et al are working on a potential solution but this will not land in Iron.
        • No testing of cross distro
        • Chris: This needs to be documented - but we need to make it very very clear that it is bad, but you
          can work around it in exceptional cases.
        • Kat: Official policy is that cross distro is bad and will not work

      • 2 things to do here

        • Add documentation that cross-distribution comms don’t work
        • For each release, point out which messages changed

  • [Camilo][10min]

    • Deferred to offline conversation
    • meta-ros has older AWS SDK recipes. This brings some risk (i.e. feature parity, CVEs) to our customers. Our suggestion is that this layer depends on the meta-aws layer to get the latest blessed recipe versions.
    • Issue found through the OpenEmbedded Layer Index.
    • How can we work with the meta-ros maintainer(s) to solve this challenge?

  • [Oliver][15min] - Robot wrestling competition at ICRA 2023

  • [Kat][25min] New TSC Applicant: Acceleration Robotics

  • Recurring business

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