ROS 2 TSC Meeting Minutes for 2024-03-21

[Katherine_Scott]

ROS 2 TSC Meeting Minutes 2024-03-21

ROS 2 TSC Contribution Report 2024-03-21.pdf (110.5 KB)

This was our final ROS 2 TSC meeting. As outlined in the OSRA announcement, the TGC and PMC meetings should commence in late April. It was a pleasure to working with all of you!

• Attendees

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

• 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.
  • ROSCon CFP is open. Sponsorship next week.
  • bit.ly/HowToROSDox
  • Jazzy Testing Party Kickoff May 1st
    • Will need your help

• Old business

• New business

• Confidential Business

  • [STOP] – ALL NON-TSC MEMBERS MUST LEAVE THE HANGOUT
  • [REMINDER] – DISCUSSIONS AFTER THIS POINT ARE STRICTLY CONFIDENTIAL

• Recurring business

  • Next ROS 2 distro release
    • Jazzy
      • Zenoh
        • rmw_zenoh mostly feature complete
        • Still some scaling issues, working through those
      • Rosbag2 service record/replay (Apex.AI / Sony)
        • Under final review, Support service 2/2 --- rosbag2 service play by Barry-Xu-2018 · Pull Request #1481 · ros2/rosbag2 · GitHub
        • Follow-up: tutorial document
      • Ubuntu Noble
        • TODO: Need documentation on pinning rosdep while in the transitory release period for next time.
        • Binary transition complete
        • Still working on migrating https://ci.ros2.org
          • Ubuntu 24.04 still has broken flake8
      • RMW freeze is in ~ 2 weeks (notice to be sent out Monday)
      • Tutorial party on May 1st-ish
  • Working groups [<=5 mins each]

    • [Bence] Control

    • [Martin Losa] Embedded

      • No update this month. The agenda for the next EWG is not (last week of march) is not yet available.

    • [Kayser] Manipulation

      • MoveIt accepted as mentoring org for GSoC24

    • [Woodall] Middleware

    • [Macenski] Navigation

      • Improved 45% run-time on MPPI controller for smaller compute platforms or larger scale robot systems
      • Fixes to Smac Planner to allow for dynamically setting new footprints
      • Added AMCL service for setting localization position in addition to topic interface
      • A number of shutdown improvements when Control+C during navigation run-time
      • A fix to the Simple Action Server to handle goal handles being properly freed
      • Migrated to BT.CPPv4.5!
      • New MPPI Cost Critic as a potential replacement with slightly different behavior than the Obstacles Critic, now default recommended

    • [Andrei] Real-Time

      • No updates, I was on vacation
      • [REP-2017] Thread attributes configuration support in rcl by smorita-esol · Pull Request #385 · ros-infrastructure/rep · GitHub

    • [Soragna] Client libraries

      • New meeting tomorrow (Friday 22 March) after more than 1 year of pause

    • [Mirko] Security

      • No updates

    • [Soragna] Production

      • Meeting notes: Meeting Agenda - Google Docs
      • Finalizing design process and stages
      • Discussing ideas on defining performance and stability requirements for RMW vendors

    • [Orlov] Rosbag2 and Tooling

      • Merged the following meaningful PRs:
        • Filter topics by type during recording (rosbag2#1577)
        • Add Python stubs for rosbag2_py (rosbag2#1569) - *.pyi files generated by pybind11-stubgen
      • Made progress on the following meaningful PRs:
        • Support service 2/2 — rosbag2 service play (rosbag2#1481) – in review and still need a lot of fixes.
        • Use middleware send and receive timestamps from message_info during recording (rosbag2#1531) got compilation problem on Windows with RTI Connext DDS since it doesn’t support sent and received timestamps in message_info.
        • GraTutorial party on May 1st-ishcefully handle SIGINT and SIGTERM signals for play and burst CLI (rosbag2#1557) – in review

[smac]

The last TSC meeting ever, it was nice being a part of it while I could

[gbiggs]

I’d like to thank all TSC representatives, past and present, for providing their time to help move ROS 2 forward. I’d also like to thank @Katherine_Scott for managing the TSC for the past few years. It’s a tough job to wrangle so many people into meeting every month.