ROS 2 TSC Meeting Minutes 2023-03-16

[Katherine_Scott]

ROS 2 TSC Contribution Report 2023-03-16.pdf (159.6 KB)

ROS 2 TSC Meeting Minutes 2023-03-16

• Attendees

  • TSC Members
    • eProsima / Jaime Martin Losa
    • Devcom / Jerry Towler
    • Intrinsic / Chris Lalancette
    • Wind River / Andrei Kholodnyi
    • Sony / Tomoya Fujita
    • Intrinsic / Katherine Scott
    • Toyota Research Institute / Ian McMahon
    • iRobot / Alberto Soragna
    • Open Source Robotics Foundation / Geoff Biggs
    • Bosch / Ralph Lange
    • Picknik / Henning Kayser
    • Canonical / Jeremie Deray / Florencia Cabralberenfus
    • Apex.AI / Lyle Johnson, Michael Orlov
    • Samsung / N/A
    • Foxglove / Adrian Macneil
    • Amazon / Camilo Buscaron
  • TSC Observers
    • Steve Macenski
  • Excused:
    • Community / Oliver Michel
    • Community / Francisco Martin Rico
    • Zettascale / Angelo Corsaro
    • Microsoft / Lou Amadio
  • Absent (Please move to TSC Members Line):
    • Intel / Harold Lang
    • ROS Industrial / Matt Robinson
    • 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.
  • 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. PLEASE USE YOUR TSC E-MAIL ADDRESS.

• [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.

• Old business

  • [Kat][2min]PLEASE FILL OUT YOUR CONTRIBUTION REPORT
  • 
  • [Kat][5min] Acceleration Robotics Membership Vote
    • 

• New business

  • [Cam][5min] Announcement

    • Aaron Blasdel will replace Camilo.
    • TODO: Kat update documents

  • [Steve][3 min] Samsung - Steve announcement

    • Samsung may provide a new representative to the TSC.
    • TODO: Kat update documents

  • [Tomoya][15min] Best Practices for ROS & Kubernetes

    • Slide Deck: ROS-TSC-ros-k8s.20230309.pdf
    • Reference
      • KubeCon 2021 Edge Day Presentation
      • Alibaba Cloud Dev Summit 2023
      • Personal ROS / Kubernetes project

  • [Soragna][10min+10min Discussion] Concerns about the ROS 2 release validation procedure – high-level KPIs as well as bugs and issues. SLIDES

    • See also: ROS 2 Stability and Validation
    • See also: Compilation Bloat Issue
    • ROS 2 Humble still has critical bugs
    • Build time is slow in Humble.
    • Don’t want to skip distribution .
    • How to improve
      • Add more testing infrastructure
      • Metrics and KPIs
      • Clear info on bugs
      • Data races seem to be the issue.
      • Add stress tests
      • Add tests on constrained resources.
      • Define metrics and KPIs – build time, size of ROS libraries
      • Middleware introduces bugs.
      • Chris – there was two months of stability of testing prior to release.
    • KAT TODO: work on post feature freeze testing event
    • For release
      • External testing – call
      • William – what are we testing and why?
      • Could we make an Iron docker container? We generally don’t do that until after.
      • Run the flakey tests?
      • What kind of stress testing we could do?
      • How do we make tests that catch subtle bugs, current tests are for obvious bugs.
      • Steve – This issue comes to mind
      • Ralph Suggests: Ubuntu Manpage: stress-ng - a tool to load and stress a computer system

  • [Chris/Emerson/Adrian][10min] REP-2011 Status

    • TODO: hold for next meeting

  • [Chris][20min] REP Reviews

    • TODO: Hold for next meeting
    • REP-2012 (Service Introspection) - https://github.com/ros-infrastructure/rep/pull/360
    • REP-145 update (changes to IMU messages) - Update Rep 145 (P II) by SteveMacenski · Pull Request #372 · ros-infrastructure/rep · GitHub

• Recurring business

  • Next ROS 2 distro release
    • RMW freeze is on April 10, full API freeze on April 17
    • Ongoing work:
      • Roadmap
        • Improving executor performance
          • Whitepaper on where things are at
          • First PRs on improving performance
        • Getting service introspection in: Service Introspection · Issue #1285 · ros2/ros2 · GitHub
          • Complete
        • rclpy performance
          • Evaluation of performance
          • Proposal to remove some debugging information that is expensive
          • Also reviewing Using C extention base class for every message by almaslov · Pull Request #193 · ros2/rosidl_python · GitHub
        • rosdoc2 improvements
          • Have made improvements to Python generation, tracking bug: Checklist for supporting document generation for ament_python packages · Issue #48 · ros-infrastructure/rosdoc2 · GitHub
        • DDS Dynamic discovery range
          • Lots of work getting this in: Improve handling of dynamic discovery · Issue #1359 · ros2/ros2 · GitHub
      • REP-2011 work - Type Description Distribution (REP-2011 subset) - formerly "message definitions on-the-wire" · Issue #1159 · ros2/ros2 · GitHub plus the dynamic type/dynamic data work
      • REP-2012 (service introspection) is in
      • External logging configuration
      • Match/unmatch events
      • rcl content filter
  • Working groups [<=5 mins each]
    • [Bence] Control
      • steering_controllers_library landing soon
        • https://github.com/ros-controls/ros2_controllers/pull/484
      • Bringing ROSCon2022 workshop up-to-date
      • Restructured ros2_control_demos into self-contained examples
      • Several improvements for transmission_interface API
    • [Martin Losa] Embedded
      • RosBots with MicroPython - John Gentilin, Principal Engineer @ Sony PlayStation
      • Crazyflie Communication: Present & Future - Arnaud Taffanel, Co-Founder of Bitcraze
    • [Kayser] Manipulation
      • New MoveIt Tutorial for Isaac Sim How To Command Simulated Isaac Robot — MoveIt Documentation: Humble documentation
      • Python Bindings have been merged, tutorials live Examples — MoveIt Documentation: Rolling documentation, official announcement after API docs are deployed
    • [Woodall] Middleware
      • One meeting to discuss outstanding pr related to matches/unmatched events.
    • [Macenski] Navigation
      • Release of MPPI Controller!
      • On-going work on Route Server ready for integration with behavior trees and demos
      • Work on Codespaces for remote development through github interface for free
      • Moved WG meeting 2 hours earlier
      • Costmap filters performance improvements
      • Updated launch and other APIs for deprecation warnings
      • Work on Hybrid-A* suboptimal bin usage issue
    • [Andrei] Real-Time
      • Consolidate real-time documentation
        • Consolidate documentation · Issue #41 · ros-realtime/community · GitHub
      • ROS2-real-time-documentation - Google Docs
    • [Biggs] Client libraries
      • On hiatus
    • [Deray] Security
      • The wg meeting was held on the 14th of March ROS 2 Security Working Group (14 Mar 2023).
        • Florencia shared 2 ament wrappers recently developed to integrate static analysis tools: Bandit (supporting Python code) and Semgrep (security rule engine supporting Python, C++, XML, JSON, among others). The Github repos can be found here: ament_bandit, ament_semgrep. Some questions and feedback referred to the output formats (Xunit is preferred), ROS-specific implementation aspects, interest from the WG to support the project, and target repository for upstream contribution. Other members will test the wrappers, and they would be proposed to the ament_lint repo.
        • Discussion on whether SROS is being used with other middlewares aside from DDS. It has been discussed to get a Zenoh RMW layer, with zenoh support for security features using TLS. This could be helpful for generalizing the security artifact material for deployment, as currently there is only an example for using secure DDS.
        • Update on PKCS#11 PR: The most recent feedback requests to not propose the project via the design repo, which is being deprecated, and open a formal REP instead.
    • [Orlov] Tooling
      • No major updates since last meeting
      • Finished Use thread pool to run benchmark publishers in rosbag2_performance_benchmarking #1250

[verbit]

when and how(mode of attending) would the next meeting be conducted?

[Katherine_Scott]

They are the third Thursday of the month via Google Hangouts. Currently the meetings are not public but we do allow for observers in certain circumstances. We post the meeting minutes so the community can keep up with what’s going on.