ROS 2 TSC Meeting Minutes 2023-07-20

[Katherine_Scott]

ROS 2 TSC Meeting Agenda 2023-07-20

ROS 2 TSC Contribution Report 2023-07-20.pdf (132.2 KB)

• Attendees

  • TSC Members
    • Amazon / Matthew Hansen
    • Apex.AI / Michael Orlov
    • iRobot / Alberto Soragna
    • Intrinsic.ai / Chris Lalancette
    • Intrinsic.ai / Katherine Scott
    • Community / Francisco Martin Rico
    • Foxglove / Adrian Macneil
    • OSRF / Geoff Biggs
    • ROBOTIS / Will Son
    • PickNik / Tyler Weaver
    • PickNik / Henning Kayser
    • Zettascale / Angelo Corsaro
    • Toyota Research Institute / Ian McMahon
    • eProsima / Jaime Martin Losa
    • Bosch / Christian Henkel
    • Microsoft / Lou Amadio
    • Apex.AI / Lyle Johnson
  • TSC Observers
    • Steve Macenski
    • Bence Magyar
  • Absent (Please move to TSC Members Line):
    • Amazon / Aaron Blasdel
    • Canonical / Jeremie Deray
    • Devcom / Jerry Towler
    • Intel / Harold Lang
    • ROS Industrial / Matt Robinson
    • Samsung / ???
    • Community / Patrick Musau
  • Excused
    • Sony / Tomoya Fujita (excused)
    • Wind River / Andri Kholodnyi (excused)
    • Community / Oliver Michel

• 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.

• Old business

  • [Francisco | 30min] REP-2014 Discussion & Vote
    • REP-2014 Benchmark Performance in ROS 2
    • Voting will take place on ROS Discourse after TSC meeting.
      • Remember this is a vote for DRAFT status, not to accept the REP.
      • You have one week to vote. July 27th, 2023
      • Kat will include a form for anonymous feedback to the REP authors.
    • Related Materials
      • 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

• New business

  • [Scott | 20min] Standards-based Python Packaging with Colcon
    • Colcon Python Project Github
    • Slides
    • Matt – need to revisit with each release
  • [Christian | 5min] Suggestion for physical meeting at ROScon
    • Most of TSC will be in New Orleans
    • Nominally during the evening of the Workshop.

• Confidential Business

  • No confidential business this meeting.

• Recurring business

  • Next ROS 2 distro release
    • Jazzy release timeline - Adding Jazzy Jalisco Timeline by marcoag · Pull Request #3760 · ros2/ros2_documentation · GitHub - need to make a decision on the timeline here
    • RMW Discussion
    • Default RMW selection - We need to make a decision on whether and how we are going to do this
      • May not do a fully evaluation like previous years.
      • Will most likely do a community survey with NPS and narrative.
      • Community survey
      • Drop dead November
  • Working groups [<=5 mins each]

    • [Bence] Control

      • Lots of fixes and improvements to joint_trajectory_controller
      • Naming improvements decided:
        • Interface → Port, aka CommandInterface → CommandPort
      • Discussions and some advancement on better hardware status reporting and handling
        • deactivate hardware from read/write return value by fmauch · Pull Request #884 · ros-controls/ros2_control · GitHub
        • Hardware Status Broadcaster and Reset Fault Controller proposal

    • [Martin Losa] Embedded

      • Last meeting (recording here):
        • Zephyr-modularized version of micro-ROS by Yasushi Shoji (Space cubics)
        • Next-generation Storage Library for Project Silica by Russell Joyce (Microsoft)
      • We will skip July and August meetings because summer vacations of many participants and we will come back in September

    • [Kayser] Manipulation

      • New MoveIt Iron artwork
      • Announcing MoveIt Studio 2.0 and MoveIt 2.7 Iron

    • [Woodall] Middleware

    • [Macenski] Navigation

    • [Andrei] Real-Time

    • [Deray] Security

    • [Orlov] Rosbag2 and Tooling

      • Add support for compression to python API (rosbag2#1425)
      • WIP Make Player and Recorder Composable (rosbag2#902) #1419
      • Add unit tests for all nodes (topic_tools#61)
      • Make topic_tools compatible with windows (topic_tools#68)
      • Build incrementally on Rolling (topic_tools#72)
      • Prefer system packages over pip packages for Linux (setup-ros#593)