ROS 2 TSC Meeting Minutes for 2023-12-14

[Katherine_Scott]

ROS 2 TSC Contribution Report 2023-12-14.pdf (113.6 KB)

ROS 2 TSC Meeting Minutes 2023-12-14

• Attendees

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

• 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

  • [Kat][5min] Welcome new TSC Members Steve Macenski and David Lu!
  • [Kat][5 min] REP-2003 Vote on Draft Status Results
    • Resolution passes. However we only had 12 out of 21 (57%) turn out over two weeks with two reminder e-mails.
    • This literally should only take 2 minutes. Turnout should be closer to 80-90%
    • TODO: request to add an abstain option on future votes
      • Added to internal handbook.
    • TODO: Clarify process in ROS 2 TSC charter.
      • REP 1 -- REP Purpose and Guidelines (ROS.org)
      • Kat has plans to meet with Chris and Geoff to clarify.
    • Issue with QoSSystemDefault:
      • Conversation here on 2023-12-05
      • ROS 2 Weekly Agenda - Google Docs
      • [ROS2 Humble] Error while using IPC in composition · Issue #75 · ros-perception/depthimage_to_laserscan · GitHub
    • 

• New business

  • [Kat][5min] GOOD NEWS!
    • We’re over the hill. ROS 2 is about 60% of all Downloads of our servers
    • 
  • [Blasdel][5min] Change of representative
    • Matt Hansen is now the TSC Representative for Amazon
  • [Macenski][20min] New Policy for AI Generated Content in ROS Projects
    • Generative AI in ROS 2 Codebases? Oh My!
    • David: what are other communities doing?
    • Kat: Next steps? Draft a contributing document section? Approve and then projects can optionally adopt.
    • Alberto: two separate problems, legal copyright and then quality of code. First address quality then copyright.
    • Kat: how does this mesh with DCO?
    • Jerry: Can we lean on legal teams of TSC member organizations. My org can’t use AI gen code at all. AI can’t hold copyright in the US.
    • Tyler: Stack Overflow explicitly bans all LLM generated code, they say code quality is important and LLMs are “correct looking” but incorrect. The ban users who use it.
      • Temporary policy: Generative AI (e.g., ChatGPT) is banned - Meta Stack Overflow
    • Adrian: autocomplete is a thing, and LLMs are no different. We’re conflating IP with quality. The risk of doing it wrong: unwelcoming community. We need to do more study in this area and see legal opinion, DCO probably covers this.
    • Christian: ROS shouldn’t be first mover. Bosch is not using AI. He’s heard that orgs are providing indemnity.
  • [Francisco][10min] Change Default Branch to Rolling
    • Rolling as default branch - #6 by mikeferguson
    • Ian – main / master is canonical approach for the default branch. Not every ROS release requires its own branch. Would rolling be branched off of for a release or would it be handled as a tag per release?
    • Tyler: rolling branch is a pain for us. ROS2 branch is used for ROS dev.
    • Ian – main branch is the normal procedure so that’s what new user look for.
    • Francisco – this would make a good rep

• Confidential Business

  • No confidential business this meeting

• Recurring business

  • Next ROS 2 distro release
    • Chris is on vacation until the end of the year.
  • Working groups [<=5 mins each]

    • [Bence] Control

      • Successful roadmapping exercise for Jazzy
        • Roadmap / Features · GitHub
      • Removing parameters/options deprecated since Humble
      • Passing URDF and ControllerManager update rate to controllers now
      • New acknowledgements page generated from Github data:
        • Acknowledgements — ROS2_Control: Rolling Dec 2023 documentation
      • rqt_jtc bugfixes for continuous joints & URDF-by-topic
      • General PID controller available in Rolling
      • Bugfix coming for out-of-order init calls when using URDF-by-topic with ControllerManager
      • Fix a floating point comparison issue in JointTrajectoryController

    • [Martin Losa] Embedded

      • Last meeting:
      • Demo of Safe DDS running on the three cores of the AMD KR260 platform – Cortex A53, Cortex R5, and MicroBlaze FPGA-softcore, by Pablo Garrido from eProsima.
      • No December meeting due to Christmas.

    • [Kayser] Manipulation

      • API-breaking planning pipeline refactoring merged
        • Multiple planners can be chained in sequence
      • Continuing to see DDS issues (both FastDDS and Cyclone)
        • https://github.com/ros-planning/moveit2_tutorials/pull/820#pullrequestreview-1755427437
      • Discussing coordinated efforts on simplifying the config and launch utils
      • Node logging refactoring completed

    • [Woodall] Middleware

    • [Macenski] Navigation

      • Sending goals in non-standard frames now supported
      • Added soft real-time prioritization of important nodes (controller, velocity smoother, collision monitor)
      • Adding collision monitor to default bringup
      • Improved simulation time compliance
      • Modest improved behavior in collision avoidance behavior in MPPI

    • [Andrei] Real-Time

    • [Mirko] Security

      • Angelo Corsaro presented the security model of Zenoh during the monthly security WG meeting. Recording will be made available soon.

    • [Soragna] Production

      • Defining schedule and preparing infrastructure. Meetings to start with the next year

    • [Orlov] Rosbag2 and Tooling

      • Finally merged Make Player and Recorder Composable (rosbag2#902) Although will need to add documentation. Created a follow-up issue and draft PR. Kudos to the author and main contributor for this feature - Patrick Roncagliolo.
      • Made progress on the following PRs:
        • Implement service recording and display info about recorded services (rosbag2#1480)
        • Add option to set compression threads priority (rosbag2#1457)

[christophebedard]

@Katherine_Scott

• Resolution passes. However we only had 12 out of 21 (57%) turn out over two weeks with two reminder e-mails.
• This literally should only take 2 minutes. Turnout should be closer to 80-90%

That’s unfortunate. Is a low turnout like this common? Could it be due to end-of-year vacations?

[kscottz]

I actually berated the TSC a bit for the low turn out. The consensus was that many members felt unqualified to vote on this matter. They requested we include an abstain option in the future.