ROS 2 TSC Meeting Minutes 2023-06-15

[Katherine_Scott]

ROS 2 TSC Contribution Report 2023-06-15.pdf (164.5 KB)

ROS 2 TSC Meeting Minutes 2023-06-15

• Attendees

  • TSC Members
    • Bosch / Christian Henkel, Ralph Lange
    • eProsima / Jaime Martin Losa
    • ZettaScale / Angelo Corsaro
    • Intrinsic.ai / Katherine Scott
    • Intrinsic.ai / Chris Lalancette
    • Community / Francisco Martin Rico
    • Community / Oliver Michel
    • Microsoft / Lou Amadio
    • OSRF / Geoff Biggs
    • Sony / Tomoya Fujita
    • Toyota Research Institute / Ian McMahon
    • Picknik / Henning Kayser
    • Canonical / Jeremie Deray
    • ApexAI / Michael Orlov
    • iRobot / Alberto Soragna
    • Foxglove / Adrian Macneil
    • Devcom / Jerry Towler
    • Amazon / Aaron Blasdel
    • ROS Industrial / Matt Robinson
    • Wind River / Andrei Kholodnyi
  • TSC Observers
    • Steve Macenski
    • Bence Magyar
  • Absent
    • Intel / Harold Lang
    • Robotis / Will Son
    • Samsung / ???
    • Community / Patrick Musau

• Old business

  • [Christian | 15min] REP 149 Modification VOTE
    • 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 https://github.com/ros-infrastructure/rep/pull/347) 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
    • PASSED: 13 out of 18 present
    • Request sponsors do a discourse post.

• New business

  • [Francisco | 30min ] REP-2014 Discussion
    • Include Victor in discussion
    • Victor is seeking approval to move REP to DRAFT status.
    • REP is informational about approach to do benchmarking and provide a reference arch.
    • Ideally – each package would have a benchmarking guide / launch file.
    • Linux foundations recommends – CTF https://diamon.org/ctf/
    • NVIDIA is doing ROS 2 benchmarking with black box testing:
      • GitHub - NVIDIA-ISAAC-ROS/ros2_benchmark: Benchmark the performance of your ROS 2 graphs
      • Has already been integrated
      • NVIDIA has been contributing to the rep, but no PRs
    • Michael Orlov – we shouldn’t be too prescriptive, this is subject to the situation at hand.
    • Proposal to read and vote next month on REP-2014.
    • HOMEWORK REP-2014
    • TODO: TSC read 2014 and vote in July.

• Recurring business

  • Next ROS 2 distro release
    • Iron is out!
    • Jazzy planning is starting
      • 24.04, transition is going to be hard. Will start ASAP.

• Working groups [<=5 mins each]

  • [Bence] Control
    • Generating docs for control.ros.org from generate_parameter_library
    • Tons of fixes/improvements to control.ros.org
    • A few issues with joint_trajectory_controllers… do file an issue if you find something dodgy
    • Discussions on renaming things
      • From “interfaces” to “ports”
      • More industrial terminology
    • Steering_controllers_library landed
    • Bicycle controller, Tricycle controller, Ackermann controller
    • Finally supporting robot_description from a topic- in Rolling and Iron
    • Coming soon to Humble too
  • MockHardware new features
    • Simulate HW failures
    • Dynamic “simulation”
    • Velocity mode
    • Some non-trivial bugfixing and releasing of gz_ros2_control and gazebo_ros2_control

• [Martin Losa] Embedded

  • Last meeting:
    • Integration micro-ROS gripper with Moveit2 by George Negret
  • Upcoming meeting:
    • Zephyr-modularized version of micro-ROS by Yasushi Shoji (Space cubics)
    • Next-generation Storage Library for Project Silica by Russell Joyce (Microsoft)

• [Kayser] Manipulation

  • WorldMoveItDay 2023 (last week’s Thursday)

    • 200 registered participants

    • 13 team submissions
    • winners will be announced on Discourse, already visible on Hackathon Discord channel
  • MoveIt 2 Tutorial Reorganization
    • Issue Main is the default branch by tylerjw · Pull Request #685 · ros-planning/moveit2_tutorials · GitHub
    • Default to main branch and Rolling instead of stable distros, main still supports all latest ROS 2 distributions

• [Woodall] Middleware

  • No update

• [Macenski] Navigation

  • No update

• [Andrei] Real-Time

  • Our workshop proposal was accepted by ROS2023 conference
  • Created a git repo GitHub - ros-realtime/roscon-2023-realtime-workshop: Exercises for the real-time workshop for ROScon 2023
  • Planning is ongoing

• [Deray] Security

  • Monthly meeting held on the 13th of June: recording.
    • Two projects were proposed to be supported under the WG, ament_bandit and ament_semgrep, sponsored by Canonical. They are wrappers for the ament build system, to perform static analysis of ROS code and detect possible security issues. There was some discussion around the motivation for adopting these projects. Next, WG members will test them with ROS 2 projects and make a decision.
    • Brief follow-up on SROS library version sros2/issues/285

• [Orlov] Rosbag2 and Tooling

  • Meaningful PRs and bugfixes:
    • Rewrite TimeControllerClockTest.unpaused_sleep_returns_true to be correct (rosbag2#1384)
    • Fix for possible freeze in Recorder::stop() (rosbag2#1381)
    • When using sim time, wait for /clock before beginning recording (rosbag2#1378)
    • Bugfix for parameters not passing to recorder’s node from child component (rosbag2#1360)
    • Don’t crash when type definition cannot be found (rosbag2#1350)
    • Progress on the [Design] Add design on recording and replay service (rosbag2#1359)

[RFRIEDM]

For Jazzy, I’d love to learn about the plans, and how to contribute. I’m currently trying to get ROS 2 rolling building smoothly on Ubuntu 23.04 from source.

https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Development-Setup.html#install-development-tools

The instructions here are not yet working. Please keep me in the loop; I’m happy to help.

[clalancette]

@RFRIEDM

The instructions here are not yet working. Please keep me in the loop; I’m happy to help.

If you have a particular feature in mind, then please feel free to start developing and opening pull requests. We’re generally happy to review.

If you are talking specifically about platform support, then we will make those choices in November/December. Based on past releases, we are likely to support Ubuntu 24.04, RHEL-9, and Windows 10 officially, but that is up for consideration until November.

[RFRIEDM]

Makes sense.

I’m looking at the plan for changes in the following when upgrading OS versions. In my experience trying to compile on Ubuntu 23.04:

• Upgrading compiler versions for GCC from 11 to 12 now has a few new compiler warnings across a few packages.
• The way that Ubuntu 23 handles python dependencies in “externally managed environments” makes the default way of installing python deps through a mix of apt and pip not work out of the box: Python pip error "externally managed environment" after upgrading to Ubuntu 23.04 - Stack Overflow
  • Related, rosidl_adapter has warnings now about pytest not being found even I install it in my virtual environment
• ros-dev-tools is not available as a debian in Ubuntu 23
• rosdep is missing about 6 sources for Ubuntu 23, including some that will not be available like gazebo classic
• In CMake 3.27, policy CMP0148 now results in build warnings on any many packages which clutter the logs such as ament_cmake_pytest
• In CMake 3.27, I get warnings that compatability with cmake <3.5 will be removed, because some packages haven’t updated their minimum version to 3.5 yet such as test_osrf_testing_tools_cpp’s local googletest-1.10 version
• QT version update since QT5 is EOL since May 2023 makes it impossible to build qt_gui_cpp and its dependencies

Would you like to create a meta-ticket to start tracking these, or is there an alternative approach you would prefer?

[clalancette]

@RFRIEDM

I’m looking at the plan for changes in the following when upgrading OS versions. In my experience trying to compile on Ubuntu 23.04:

Thanks, that is a good list of things to know about (and at least some of the sneak preview of what we’ll run into for Ubuntu 24.04).

@RFRIEDM

Would you like to create a meta-ticket to start tracking these, or is there an alternative approach you would prefer?

Yeah, I think a new meta-ticket on GitHub - ros2/ros2: The Robot Operating System, is a meta operating system for robots. would be appropriate, and then we can link it to individual issues on the repositories.

[RFRIEDM]

Done. [Meta-Ticket] J-turtle changes for Ubuntu 23/24 · Issue #1452 · ros2/ros2 · GitHub