ROS 2 TSC Meeting Minutes 2023-09-21

[Katherine_Scott]

ROS 2 TSC Meeting Minutes 2023-09-21

ROS 2 TSC Contribution Report 2023-09-21.pdf (135.9 KB)

• Attendees

  • TSC Members
    • eProsima / Jaime Martin Losa
    • Intrinsic.ai / Chris Lalancette
    • Intrinsic.ai / Katherine Scott
    • Canonical / Mirko Ferrati
    • Microsoft / Lou Amadio
    • WInd River / Andrei Kholodnyi
    • Bosch / Christian Henkel
    • Robotis / Will Son
    • Amazon / Aaron Blasdel
    • Devcom / Jerry Towler
    • Apex.AI / Lyle Johnson, Michael Orlov
    • Sony / Tomoya Fujita
    • Community / Francisco Martin Rico
    • iRobot / Alberto Soragna
    • Toyota Research Institute / Ian McMahon
    • Picknik / Henning Kayser
    • OSRF / Geoff Biggs
    • Foxglove / Adrian Macneil
    • Zettascale / Angelo Corsaro
  • TSC Observers
    • Steve Macenski
    • Emerson Knapp
    • Tully Foote
  • Excused
    • Community / Oliver Michel
  • Absent
    • Intel / Harold Lang
    • ROS Industrial / Matt Robinson
    • Community / Patrick Musau

• Preliminaries

  • [Kat | 5min] TSC @ ROSCon – need to figure out how to cover meeting expenses. Kat can’t financially support the meeting.
    • TL;DR TSC Members will need to cover their food and drink. We will have a venue, some sort of bar and grill near ROSCon.

• Old business

  • [Chris | 2 min] – Chris Lalancette has to leave early and has requested we discuss the Jazzy release at the top of the meeting.
    • State of ROS Talk At ROSCon w/ ROS 2 Jazzy
      • Please include your jazzy plans if they are public so they can be included.
      • Please include plans in a PR on docs.ros.org
  • [Kat | 10min] Discuss meeting minutes from August

• New business

  • [Kat | 5min] Community Rep Election
  • [Steve | 5 min] Rcl Action Result Timeout
    • We ID’d in Nav2 an issue with rcl action library naively expiring live goals causing problems → impacts many action users
      • rclcpp_action goal handle timeout logic clearing long-running goals · Issue #3765 · ros-planning/navigation2 · GitHub
    • Open Navigation doesn’t have cycles to address right now, but worth making visible to this group / end-users
      • • a temporary work around using high result_timeout, which comes with trade-offs
    • Call to action: Intrinsic, help? I’m pretty sure your ROS 2-based products hit this as well Did you file an issue?
  • [Chris | 30 min] Discuss REP-2016 for draft status.
    • Jaime: why aren’t we using existing capabilities in things like DDS / Xtypes? It is also opaque to RMW. See comments in PR. (Emerson – these are not precluded, this rep does create a means to move type descriptions).
    • Ian: Could the hash be useful in an RMW-agnostic security implementation? Emerson: This was not considered in the design process.
    • Angelo: Not all DDS vendors have the same Xtypes impl
    • Jerry: The versioning of baked in types is not really quite up to REP-2011
    • Jerry: Have we considered a formal grammar for antler? – (Emerson, it is not ruled out).
    • Jerry: Optional to transmit type info plus hash? Emerson: yes?
    • Tomoya: What happens to the hash when constants change?
    • TODO: Emerson is going to address comments and bring REP back for a vote for acceptance.

• Recurring business

  • Next ROS 2 distro release
    • RMW Alternate spec will be released next week as a PDF next week
    • RMW Alternate will be released next week.
  • Working groups [<=5 mins each]
    • [Bence] Control
    • [Martin Losa] Embedded
      • ROS2 & PX4 Teleoperation and SLAM on a Steam Deck, Made Possible by uXRCE-DDS.
        • Presentation by Braden Wagstaff from ARK Electronics
    • [Kayser] Manipulation
      • MoveIt Releases
        • 2.8.0 for Iron/Rolling
          • Includes large Servo refactoring, API-breaking cleanup for planning request adapter interface
        • 2.5.5 patch release for Humble, mostly bug-fixes
      • Few seats left for MoveItCon 2023
    • [Woodall] Middleware
    • [Macenski] Navigation
      • Exposing Action Result Timeout across Nav2 servers due to rcl bug as a medium term work around. Could really use assistance resolving
        • rclcpp_action goal handle timeout logic clearing long-running goals · Issue #3765 · ros-planning/navigation2 · GitHub
      • New GPS Waypoint Following Feature! Tutorial for setting up GPS + Nav2 + ROS 2 on the way along with real-life demo videos of GPS Nav2 in production. Thanks to Kiwibot!
      • New Visual-Inertial Odometry tutorial in the works, to be released next week
      • MPPI run-time performance optimizations and we’re still debugging why the binaries of MPPI all the sudden stopped working across all distributions (compiler changes? Build farm environment changes?)
      • Multi-robot support for simple commander API!
      • Major new features to Smac Planner to resolve binning problems and additional optimization features
      • Added new Collision Detector node within Collision Monitor to detect and publish state changes in polygons rather than directly stopping the robot’s motion
      • New launch files for multi-robot using the same robot model for homogeneous fleet testing

• [Andrei] Real-Time

  • ROSCon 2023 Workshop
    • GitHub - ros-realtime/roscon-2023-realtime-workshop
  • REP2017 (eSOL) https://github.com/ros-infrastructure/rep/pull/385
  • TODO: Chris Lalancette want feedback in the near future.

• [Biggs] Client libraries

• [Mirko] Security

  • Small meeting, talked about hardening the entire OS instead of just ros-based apps

• [Orlov] Rosbag2 and Tooling WG

  • Meaningfull changes and merged PRs:
    • Redesign Player class with PIMPL idiom (rosbag2#1447)
    • Don’t warn for unknown types if they are not included in the topic list (rosbag2#1466)
    • Add BagSplitInfo service call on bag close (rosbag2#1422)
      • Note: The BagSplitInfo::opened_file field will have an empty string to indicate that it was “bag close” and not bag split event.
    • Add per group statistics in rosbag2_performance_benchmarking (rosbag2#1306)
      • Add per group statistics for received messages in percentages. i.e. counting missed messages from each publisher. Before we were counting only from the first publisher.
  • Made progress on the following PRs:
    • Make Player and Recorder Composable (rosbag2#902)
    • Support recording and replay service (rosbag2#1414)
    • Add API to use message_info instead unserialized message (libstatistics_collector#170)

[tomoyafujita]

@Katherine_Scott

• We ID’d in Nav2 an issue with rcl action library naively expiring live goals causing problems → impacts many action users
• rclcpp_action goal handle timeout logic clearing long-running goals · Issue #3765 · ros-planning/navigation2 · GitHub
• Open Navigation doesn’t have cycles to address right now, but worth making visible to this group / end-users
• • a temporary work around using high result_timeout, which comes with trade-offs
• Call to action: Intrinsic, help? I’m pretty sure your ROS 2-based products hit this as well Did you file an issue?

@Katherine_Scott

Just sharing the current status, issue has been created in rcl

• rcl_action: result_timeout should be started on goal completion · Issue #1103 · ros2/rcl · GitHub

PRs (just default timeout changes.)

• reduce result_timeout to 10 sec from 15 mins. by fujitatomoya · Pull Request #1171 · ros2/rclpy · GitHub
• increase result_timeout to 1 mins from 10 secs. by fujitatomoya · Pull Request #1104 · ros2/rcl · GitHub

Further discussion required for more sophisticated approach to reset the result timeout.