ROS 2 TSC Meeting Minutes 4-20-2023

[Katherine_Scott]

ROS 2 TSC Contribution Report 2023-04-20.pdf (152.9 KB)

ROS 2 TSC Meeting Minutes 2023-04-20

• Attendees

  • TSC Members

    • Intrinsic.ai / Chris Lalancette
    • Intrinsic.ai / Katherine Scott
    • OSRF / Geoff Biggs
    • Apex.AI / Lyle Johnson, Michael Orlov
    • iRobot / Alberto Soragna
    • Robotis / Will Son
    • Toyota Research Institute / Ian McMahon
    • Canonical / Jeremie Deray
    • Zettascale / Angelo Corsaro
    • Community / Oliver Michel
    • Bosch / Ralph Lange, Christian Henkel
    • Sony / Tomoya Fujita
    • Community / Francisco Martin Rico
    • eProsima / Jaime Martin Losa
    • Foxglove / Adrian Macneil
    • Devcom / Jerry Towler
    • Picknik / Henning Kayser
    • Amazon / Aaron Blasdel

  • TSC Observers

    • Steve Macenski
    • Bence Magyar

  • Absent (Please move to TSC Members Line):

    • Intel / Harold Lang
    • Microsoft / Lou Amadio
    • ROS Industrial / Matt Robinson
    • Samsung / ???
    • Wind River / Andri Kholodnyi
    • 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.
  • [Kat][1 min] PLEASE UPDATE YOUR ATTENDANCE

• Old business

  • [Kat][10min] Confidentiality at TSC Meetings
  • [Kat][10min] Tutorial Party / Feature Freeze Testing Update

• New business

  • [Christian Henkel, Bosch][10min] Integration of copyright file generator in Build Farm
    • Update on https://github.com/boschresearch/ros_license_linter
    • Integration with Build Farm: Generation of copyright files · Issue #697 · ros-infrastructure/bloom · GitHub
    • Chris – Rep is blocking moving this forward.
    • Everyone - please read and review REP for next time
    • 20 minutes for review in next meeting. Please read the rep and the PR.
  • Extension to REP-149: https://github.com/ros-infrastructure/rep/pull/347 [Chris/Emerson/Adrian][10min] REP-2011 Status
    • Emerson was leading this discussion and is not present.
    • Most of REP-2011 stuff was merged for Iron
    • Still have 3 open PRs
    • Will be merged onto Rolling (once it is unfrozen)
    • And backported to Iron for Patch release 1 (all of the ABI/API is in place)
  • [Chris][20min] REP Reviews
    • Deferred to next meeting.
    • REP-2012 (Service Introspection) - [REP-2012] Service introspection by jacobperron · Pull Request #360 · ros-infrastructure/rep · GitHub
    • REP-145 update (changes to IMU messages) - Update Rep 145 (P II) by SteveMacenski · Pull Request #372 · ros-infrastructure/rep · GitHub
  • [fmrico] New URDF Discussion
    • Following from this Discourse post.
    • ST-WG: Material
  • URDF Short Term Working Group
    • Need to vote to make it an official TSC URDF working group.
    • Vote 15/23 – PASSES
  • [Steve | 10 minutes] Community policy for AI-generated code contributions
    • MoveIt & Nav2 both received a barrage of poor-quality Chat-GPT generated PRs which wastes maintainer time and limited resources
    • It might be good if we proactively establish guidelines or how these should be handled in the future or how copyrights are handled in such cases
    • Kat: there could be copyright concerns with AI generated code
    • Would anyone like to assist Steve on generating community guidelines?
    • Chris DCO should cover this

• Recurring business

  • Next ROS 2 distro release
    • Iron – Summary of Features
      • For the ROS 2 core, both iron and rolling are frozen right now while branching is happening (Preparing for Iron branching on Rolling 2023-04-18 - #4 by clalancette)
        • No PRs should be merged for either branch
        • Can still open PRs, review them, run CI, and get them ready
        • Can merge PRs for Humble and Foxy as necessary
        • Expect this to be the case until early next week - above post will be updated when we are unfrozen
        • After that Rolling will be open for any changes, and Iron will be open for bugfixes
      • Tutorial party kickoff/call for testing on May 3rd
        • Test cases already available: GitHub - osrf/ros2_test_cases: Tracking of tests to be performed on a ROS 2 release
        • Feel free to add tests (as new issues) that you want to run
        • Jeremie – Can we can make Docker images for Iron testing?
          • Chris – We’ll file an issue and we’ll see if we can get them made.
      • Documentation updates to release notes (ROS 2 Iron Irwini (codename ‘iron’; May, 2023) — ROS 2 Documentation: Rolling documentation) welcome anytime
    • J-Turtle naming thread
      • Should kick off ~next week (may be delayed a week)
  • Working groups [<=5 mins each]

    • [Bence] Control

      • New controllers coming very soon:
        • PID controller, Bicycle controller, Tricycle controller, Ackermann controller, Mecanum controller, 4-wheel steering controller
      • Removing custom-rate state publication from controllers in favor of a common convention
        • [JTC] Implement new ~/controller_state message by christophfroehlich · Pull Request #557 · ros-controls/ros2_controllers · GitHub
      • Finished demo restructuring
      • Async controllers and async hardware components should land in time for early Iron
      • Gearing up for ROS Developers Day 2023!

    • [Martin Losa] Embedded

      • micro-ROS & Renesas RA Family: Open Manipulator Demo by eProsima
      • A Gearless Wheel Hub Drive for AMR, By Hanning Elektro
        • XRCE-DDS Interface for drives in AMRs.
      • Video

    • [Kayser] Manipulation

      • World MoveIt Day 2023, June 8th - more details soon!
      • New MoveIt release including Python Bindings + API docs are available

    • [Woodall] Middleware

    • [Macenski] Navigation

      • Unusually, nothing substantial to report

    • [Andrei] Real-Time

      • Prepare a workshop proposal for the ROS2023 Conference
      • Updating documentation
      • Working on ROS2 real-time image for the Iron release.

• [Biggs] Client libraries

• [Deray] Security

  • Working group meeting held on the 11th of April (recording):
    • Eduardo shared the REP that was opened for DDS Security PKCS#11 Support: REP-2015 ([REP-2015] ROS2 DDS Security PKCS#11 Support by Mario-DL · Pull Request #375 · ros-infrastructure/rep · GitHub), as discussed in the last meeting. This is awaiting a review from the maintainers.
    • Discussion on use of containers for ROS deployment: limitations that can affect shared memory access or interprocess communication, and security considerations such as running Docker containers as root.

• [Orlov] Rosbag2 and Tooling

  • Add API samples for Python (#1253)
  • Move local message definition source out of MCAP plugin (#1265)
  • Update to sqlite3 3.37.2 (#1274)
  • rosbag2_storage: add type description hash to topic metadata (#1272)
  • Add tests for rosbag2_performance_benchmarking pkg (#1268)
  • Move rosbag2_transport::Recorder implementation to pimpl (#1291)
  • Store message definitions in SQLite3 storage plugin (#1293)