ROS 2 TSC Meeting Minutes 2023-05-18

[Katherine_Scott]

ROS 2 TSC Contribution Report 2023-05-18.pdf (129.4 KB)

ROS 2 TSC Meeting Minutes 2023-05-18

• Attendees

  • TSC Members
    • Intrinsic.ai / Katherine Scott, Tully Foote, William Woodall
    • Toyota Research Institute / Ian McMahon
    • Sony / Tomoya Fujita
    • OSRF / Geoff Biggs
    • Community / Francisco Martín Rico
    • iRobot / Alberto Soragna
    • Foxglove / Adrian Macneil
    • eProsima / Jaime Martin Losa
    • Picknik / Henning Kayser
    • Wind River / Andrei Kholodnyi
    • Bosch / Christian Henkel, Ralph Lange
    • Robotis / Will Son
    • Microsoft / Lou Amadio, Dan Rosenstein
    • Amazon / Aaron Blasdel
    • Apex.AI / Lyle Johnson, Michael Orlov
  • TSC Observers
    • Steve Macenski
  • Excused
    • Community / Olivier Michel
  • Absent (Please move to TSC Members Line):
    • Canonical / Jeremie Deray
    • Devcom / Jerry Towler
    • Intel / Harold Lang
    • Intrinsic.ai / Chris Lalancette
    • ROS Industrial / Matt Robinson
    • Samsung / ???
    • Zettascale / Angelo Corsaro
    • Community / Patrick Musau

• Preliminaries

  • You should only have comment access to this document.
  • [Kat ][1 min] Please remember to fill out your contribution report at the bottom of this document prior to the meeting.
  • ROS Meetup at Automate
  • Iron Swag Sale: bit.ly/ROSIronSwag
  • TODO: Request to add REP-2014

• Old business

  • [Kat][5min] Brief Tutorial Party Update
    • Issues · osrf/ros2_test_cases · GitHub
  • [Christian Henkel, Bosch][20min] Integration of copyright file generator in Build Farm
    • Update on GitHub - boschresearch/ros_license_toolkit: Checks ROS packages for correct license declaration
    • Integration with Build Farm: Generation of copyright files · Issue #697 · ros-infrastructure/bloom · GitHub
    • Chris – REP-149 is blocking moving this forward.
    • Everyone - please read and review REP (i.e., PR New attributes for license tag by ralph-lange · Pull Request #347 · ros-infrastructure/rep · GitHub) for next time
    • Short overview to motivation for this REP, the status of the license check tool (GitHub - boschresearch/ros_license_toolkit: Checks ROS packages for correct license declaration) and the generator.
    • Open discussion points in the PR:
      • Simple source-files attribute vs. XML tags
      • Rename source-files=”” to files=”” ?
      • Remove type=”spdx” attribute?
    • Please comment in the PR
    • Related: BOSCH ROS License Lint Toolkit
    • Related: SPDX Spec
    • KAT TODO: Vote for June meeting.

• New business

  • [Ralph Lange][5 min] Change of Representatives
    • Ralph Lange promoted to head of the robotics research portfolio at Bosch Research. He will continue to support collaboration with the ROS community, but representation in the TSC will be assumed by Christian Henkel.
  • [Kat / Geoff / Tully][10 min] Open Discussion on Intrinsic Product Keynote.

• Confidential Business

  • [STOP] – ALL NON-TSC MEMBERS MUST LEAVE THE HANGOUT
  • [REMINDER] – DISCUSSIONS AFTER THIS POINT ARE STRICTLY CONFIDENTIAL

• Recurring business

  • Next ROS 2 distro release
    • Iron Release is just about done
      • Still cleaning up a few loose ends
      • But no major (known) problems in Iron
      • Tutorial testing party was a massive success
        • 30 unique people tested
        • 400 test cases closed
        • Top 2 testers tested > 200 combined
        • Found and fixed a bunch of bugs (including ones that affected Navigation2)
        • Will definitely do this again for next release
      • Still time to add things to the documentation if there are core features we missed: Iron Irwini (iron) — ROS 2 Documentation: Iron documentation
      • Package freeze in effect as of tomorrow: Upcoming rosdistro freeze for iron in preparation for release
      • Reminder for “Iron flexes” - brag about your non-core packages: Iron Package Maintainers: Time to Write Your Iron Flexes
      • Release is on Tuesday, May 23
    • J-Turtle
      • Roadmapping will start in earnest in late June (after ICRA and some rest by the ROS 2 release team)
      • Start thinking about your feature/fix requests for J-Turtle
      • Reminder that J-Turtle will be on Ubuntu 24.04
  • Working groups [<=5 mins each]

    • [Bence] Control

    • [Martin Losa] Embedded

      • Introducing Safe DDS - eProsima: New safety certifiable DDS (supporting regular embedded devices)
        • Integration with ROS2

    • [Kayser] Manipulation

      • World MoveIt Day June 8th! World MoveIt Day 2023 | PickNik
        • Main Theme: Python support
        • Competition with prizes
        • Intention: open MoveIt up to Python and Machine Learning community
      • 2 GSoC projects approved
        • Improved realtime control with Servo
        • Better support for optimization-based IK using pick_ik
      • STOMP planner support merged - released for Iron
      • New Releases for Humble, Iron, Rolling today

    • [Woodall] Middleware

      • No update

    • [Macenski] Navigation

      • New denoising layer, courtesy of SRR + a summer program with students
      • Next WG meeting, Ruffin White will talk about the new work he’s been focusing on for using dev containers, codespaces, and PWAs to make developing accessible on all hardware using cloud and web services
        • Repeatable, Reproducible, and now Accessible! ROS Development via Dev Containers - #7 by joshnewans
      • Debugged and found issue with Iron release in TF2 breaking Nav2
      • Lifecycle cleanup + small bug fixes galore
      • Behavior contextual error codes + exposed in behavior tree, thanks to Locus Robotics

    • [Andrei] Real-Time

      • Submitted a workshop proposal for the ROSCon2023
      • Preparing an RPI RT image release for iron
      • Consolidate documentation

    • [Deray] Security

    • [Orlov] Rosbag2 and Tooling

      • Performance improvement in Python scripts (topic_tools#60)
      • Add delay tool (topic_tools#30) to delay and republish messages
      • Add recorder stop() API (rosbag2#1300)
      • Add python binding to close the SequentialWriter (rosbag2#1339)
      • Fix warning from ClassLoader in sequential compression reader and writer (rosbag2#1299) Addressed issue that storage plugins was failed to unload on exit.
      • Address flakiness in rosbag2_play_end_to_end tests (rosbag2#1297)
      • Add message definition read API (rosbag2#1292)
      • Read message definitions from input files in bag_rewrite (rosbag2#1295)
      • Store metadata in db3 file directly (rosbag2#1294)
      • Debugged and made preliminary analysis for segmentation fault happening in Fast-DDS on rclcpp::shutdown CI test regression: test_play_services__rmw_fastrtps_cpp (rosbag2#1311). Forwarded to the eProsima engineers for the further debug and fixes.

[mahdiul]

How can I join the next ROS meeting ?

[Katherine_Scott]

The ROS 2 TSC meetings are not public, but we do post the meeting minutes.