ROS 2 TSC Meeting Minutes for 2024-01-18

[Katherine_Scott]

ROS 2 TSC Contribution Report 2024-01-18.pdf (105.8 KB)

ROS 2 TSC Meeting Minutes for 2024-01-18

• Attendees

  • TSC Members

    • Sony / Tomoya Fujita
    • Devcom / Jerry Towler
    • Canonical / Mirko Ferrati
    • Wind River / Andrei Kholodnyi
    • eProsima / Jaime Martin Losa
    • PickNik / Tyler Weaver
    • Intrinsic.ai / Chris Lalancette
    • Intrinsic.ai / Katherine Scott
    • Microsoft / Lou Amadio
    • Apex.AI / Lyle Johnson, Michael Orlov
    • Community / Francisco Martin Rico
    • iRobot / Alberto Soragna
    • Bosch / Christian Henkel
    • Robotis / Will Son
    • OSRF / Geoff Biggs
    • Amazon / Matt Hansen
    • Toyota Research Institute / Ian McMahon
    • Community / David Lu!!
    • Foxglove / Adrian Macneil

  • TSC Observers

    • Aaron Blasdel

  • Absent (Please move to TSC Members Line):

    • Intel / Harold Lang
    • Picknik / Henning Kayser
    • ROS Industrial / Matt Robinson
    • Zettascale / Angelo Corsaro
    • Community / Steve Macenski (EXCUSED)

• Preliminaries

  • Please ping your friends and colleagues about 2024 ROS Internships
  • Gazebo Classic EOL / Survey
  • ROSBag2 Call for Co-Maintainer

• Old business

• New business

  • [Kat][20min] 2023 DRAFT Metrics Report
    • Note from @katherine_scott: I want to corral our discussion of the metrics report to a single thread, so I am not including the draft report here. Just last week I got my hands on the packages.osrfoundation.org server logs, which means that this year we’re getting some basic Gazebo metrics! I intend to publish the report on 2024-01-25T08:00:00Z.

• Confidential Business

  • [STOP] – ALL NON-TSC MEMBERS MUST LEAVE THE HANGOUT

• Recurring business

  • Next ROS 2 distro release
    • rmw_zenoh_cpp
      • Development is progressing
      • Have experimental support for services (hence actions)
      • Also experimental support for some QoS settings
      • Still need to fix quite a few bugs
    • Jazzy
      • Transition to Ubuntu 24.04 has started in earnest
      • Planning on transitioning Rolling to Ubuntu 24.04 the week of February 5th
        • But somewhat dependent on when Python 3.12 lands
        • Discourse announcement: Preparing ROS 2 Rolling for the transition to Ubuntu 24.04
        • Useful tickets to track
          • Python 3.12 as default : “Ubuntu Pythoneers” team
          • Bug #2049369 “autopkg tests ignored for migration of python3-def...” : Bugs : python3-defaults package : Ubuntu
  • Working groups [<=5 mins each]

    • [Bence] Control

    • [Martin Losa] Embedded

      • Next meeting: Jan 23, 2024:

      • Farhang Naderi, Co-Founder & Chief Tech Officer at Caretta Robotics, will present two exciting projects. The first combines PX4 Autopilot, ROS2, Pixhawk 6X, and Micro XRCE-DDS for precise drone positioning. The second uses Pixhawk, Raspberry Pi CM4, ROS2, and Micro XRCE-DDS to enable drones to track and follow objects in real-time. These projects showcase significant advancements in drone operations and interactions with their environment.

    • [Kayser] Manipulation

      • Planning pipeline refactor merged, large API change to MoveIt

    • [Woodall] Middleware

    • [Macenski] Navigation

    • [Andrei] Real-Time

      • Work on REP-2017 (set thread priorities for the ROS 2 rcl)
      • PREEMPT_RT kernel for the upcoming ROS 2 release (Ubuntu 24.04 based)
      • Ideas for this year: real-time containers, documentation from the ROS2023 workshop,RPI5 image

    • [Mirko] Security

      • Monthly meeting with no participants, nothing to report

    • [Soragna] Production

      • First meeting of the group. Mostly discussions around what’s the purpose of the group and definition of platforms to share initial ideas to start working on a roadmap.
      • Group will meet every two weeks at 7AM pacific time on Wednesday.
      • Discussion around how to increase the number of unit and integration tests in ROS 2.

    • [Orlov] Rosbag2 and Tooling

      • Merged the following meaningful PRs:

        • Add option to set compression threads priority (rosbag2#1457)
        • Improve performance in SqliteStorage::get_bagfile_size() (rosbag2#1516)
        • Bugfix for incorrect playback rate changes when pressing buttons (rosbag2#1513)
        • call cv.wait_until only if necessary. (rosbag2#1521) Improve performance for high rate playback to be able to playback messages every 2.2 microseconds.

      • Made progress on the following PRs:

        • Support service 2/2 — rosbag2 service play (rosbag2#1481) It was an active discussion if really need to have ability playing back service requests at the firsthand and how to process service responses during the playback. Decided that it would be great to have the ability to playback service requests to be able to debug the service server side. Also very often service requests is a triggering events for changing system from one state to another. It turns out that ROS 2 users very often avoid using services and have to workaround with regular topics for triggering events because there is no easy way to be able to replay and debug system with such triggering events. For tracking service response during playback proposed to use ros2 service echo CLI tool.
        • Update documentation about recorder and player creation via composition (rosbag2#1510)
        • Active discussion about Use middleware receive timestamp instead of now (rosbag2#1531) From one hand it would be easy and useful to switch using timestamp from the message_info during the recording assigned when message was send, however from other hand it might break the logic and workflow for many others. We already have special data fields for the send_timestamp and sequence_number. For the proper implementation, it would be better to change rosbag2 internal API to be able to populate those filed with valid data from message_info.