ROS 2 TSC Meeting Minutes 2023-10-12

[Katherine_Scott]

ROS 2 TSC Contribution Report 2023-10-12 (1).pdf (111.0 KB)

ROS 2 TSC Meeting Minutes 2023-10-12

• Attendees

  • TSC Members
    • ZettaScale / Angelo Corsaro
    • eProsima / Jaime Martin Losa
    • Apex.AI / Lyle Johnson, Michael Orlov
    • Sony / Tomoya Fujita
    • Canonical / Mirko Ferrati
    • Robotis / Will Son
    • Foxglove / Adrian Macneil
    • Intrinsic.ai / Chris Lalancette
    • Intrinsic.ai / Katherine Scott
    • iRobot / Alberto Soragna
    • iRobot / Brian Wilcox
    • Amazon / Aaron Blasdel
    • OSRF / Geoff Biggs
    • Picknik / Henning Kayser
    • Community / Francisco Martin Rico
  • TSC Observers
    • Steve Macenski
    • Emerson Knapp
    • Bence Magyar
  • Absent (Please move to TSC Members Line):
    • Bosch / Christian Henkel Canonical
    • Devcom / Jerry Towler
    • Intel / Harold Lang
    • Microsoft / Lou Amadiob
    • ROS Industrial / Matt Robinson
    • Toyota Research Institute / Ian McMahon
    • Wind River / Andri Kholodnyi
    • Community / Oliver Michel
    • 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.

• Old business

  • [Kat][2 min] ROS 2 TSC Meetup @ ROSCon 2023
    • Wednesday October 18th, 2023 – 6-9pm local time
  • [Kat][2 min] Community Rep Election
    • Election is currently live
    • Please help spread the word.
  • [Chris / Emerson][30min] REP-2016 Discussion
    • NOTE: Chris says that he is going to be late, we may need to move this down the agenda.
    • Still waiting for pull requests – TODO schedule for November.

• New business

  • [Soragna][25min] Scaling ROS 2 for Production
    • details on the use of ROS 2 at iRobot and our current testing infrastructure
    • Proposals to improve ROS 2 testing infrastructure
    • Proposals to facilitate companies in contributing to make ROS 2 more performant and more stable
    • Proposal to create a “Quality Control” working group or committee with the focus of better defining requirements and testing criteria for ROS 2.
    • TODO: “QC / PR / Infra Improvement” working group proposal for next TSC meeting.
      • Send WG document to iRobot
      • Add to November agenda

• Confidential Business

  • None

• Recurring business

  • Next ROS 2 distro release
    • Continued work on rmw_zenoh
      • Basic pub/sub now working
      • Working on how to update the ROS graph
      • Thinking about a design with zenohd
      • Will be discussing with Zettascale at ROSCon
    • Disabling loans proposal: Disable the loaned messages inside the executor. by clalancette · Pull Request #2335 · ros2/rclcpp · GitHub
    • rclcpp_action threading issues
  • Working groups [<=5 mins each]

    • [Bence] Control

      • Fallback controllers scoping & discussions
      • Sorted out a few issues with gazebo support
      • joint_trajectory_controller:
        • Features,features,features
        • Most of them backported to Humble
      • Improvements to update_rate feature
      • ROSCon workshop preparations

    • [Martin Losa] Embedded

      • NO EWG this month due ROSCON

    • [Kayser] Manipulation

      • Current Focus: fixing ROS logging Fix loggers to publish to /rosout · Issue #2376 · ros-planning/moveit2 · GitHub
        • MoveIt did this wrong apparently, now fixing logging to rosout with proper node and child logger names
      • Wrapping up GSoC projects, announcements soon

    • [Woodall] Middleware

    • [Macenski] Navigation

      • Thanks Tomoya.Fujita@sony.com for helping with a temporary workaround to the rcl action result timeout issues from the previous meeting! How can we get this in / more permanent solution?
        • increase result_timeout to 1 mins from 10 secs. by fujitatomoya · Pull Request #1104 · ros2/rcl · GitHub
      • Resolved build-farm related binary crashes in MPPI due to AVX512 settings automatically enabled on Xeons but unavailable in most typical robot computers (e.g. Intel i-series, AMD)
      • Several substantial performance improvements across the MPPI controller leading into ROSCon across several critics, trajectory computations.

    • [Andrei] Real-Time

    • [Biggs] Client libraries

    • [Mirko] Security

      • Would like to have someone from Zenoh talk about the security model in one of the next monthly meeting

    • [Orlov] Tooling

      • Merged PRs:
        • Add API to use message_info instead unserialized message (libstatistics_collector#170)
        • Store serialized metadata in MCAP file (rosbag2#1423)
        • Ability to split already existing ros2 bags by time (rosbag2#599)
      • Made progress on the following PRs:
        • Make Player and Recorder Composable (rosbag2#902)
        • Support recording and replay service (rosbag2#1414)
        • Add option to set compression threads priority (rosbag2#1457)
        • Make C++ QoS YAML (de)serialization compliant with QoS override file schema (rosbag2#1476)