ROS 2 TSC Meeting Minutes for 5-19-2022

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ROS 2 TSC Contribution Report 5-19-2022.pdf (132.1 KB)

ROS 2 TSC Meeting Minutes 5-19-2022

  • Attendees

    • Andrei Kholodny, Wind River
    • Open Robotics - Geoff Biggs, Kat Scott, Chris Lalancette, William Woodall, Audrow Nash, Tully Foote
    • Jeremie Deray (artivis) | Canonical
    • Samsung Research - Steve Macenski
    • Amazon - Aaron Blasdel, Emerson Knapp, Camillo Buscaron
    • Foxglove - Adrian Macneil, John Hurliman
    • SwRI - Jerry Towler (representing GVSC)
    • Apex.AI - Sumanth Nirmal
    • ROBOTIS - Will Son
    • Bosch - Ralph Lange
    • Community Rep | Brett Aldrich
    • Community Rep | Olivier Michel
    • Toyota Research Institute - Toffee Albina
    • Sony - Tomoya Fujita
    • iRobot - Alberto Soragna

  • Preliminaries

  • Old business

  • New business

  • Recurring business

    • Next ROS 2 distro release
      • See above
    • Working groups [<=5 mins each]

      • [Bence] Control

        • Multi-distro documentation supported on control.ros.org
        • All hardware drivers now get full URDF and time/period info
        • Chainable controllers functionality almost landed
          • 1 PR missing (non-API-breaking)
        • Several practical improvements from user-feedback on joint_trajectory_controller and diff_drive_controller
        • Discussions on microROS & ros2_control
        • Discussions to take ownership of gazebo_ros2_control and ign_ros2_control

      • [Angelo Cosaro] Edge AI

      • [Martin Losa] Embedded

        • Agenda for the next meeting (may 24th):
          • Building robots one bolt at a time - test-driven development of micro-ROS with Renode (Piotr Zierhoffer from Antmicro)
          • Turtlebot3 ROS based Robot Body Controller using Renesas RA6M5 (Yuuki Okamiya and Kayoko Nemoto from Renesas Japan)
          • micro-ROS enhancements

      • [Coleman] Manipulation

        • MoveIt Setup Assistant
        • Simplification of Launchfiles for MoveIt
        • New Tutorials
        • Many bug fixes

      • [Woodall] Middleware

      • [Macenski] Navigation

        • Completed dynamic parameters support in all algorithms / servers
        • Support launch respawns in the lifecycle manager
        • Added Smoother Server with Constrained and Simple Smoother plugins
        • Continued development on MPPI controller
        • Continued development on the collision monitor
        • Continued development on Behavior tree upgrades for long standing behavioral problems from ROS 1 (‘is path valid’ relative cost statistical tests)
        • Begun work with David Lu and Fergs on a description and comparison document of the features / algorithms in Nav2 for users
        • Released 1.0.11 to Galactic
        • Dealing with a litany of issues surrounding Humble upgrade
          • Compilation changes to underlying libraries
          • Gazebo → Ignition
          • Breakages in rclcpp / related
          • CI and testing support

  • [Andrei] Real-Time

  • [Biggs] Client libraries

    • Have been putting together a “wishlist” roadmap for I-Turtle.
      • Move rclcpp statistics library to rcl
      • Ability to change logging verbosity level at runtime
      • Advanced developer documentation
      • Revision of the lifecycle for lifecycle nodes (this will need a long deprecation cycle if we go ahead)
      • Functional parity between rclpy and rclcpp
      • Remove callback groups from rclpy (they are not necessary in Python)
    • Plan to move the Simple Action Server that Nav2 has developed into rclcpp so it is more broadly available, as in ROS 1
    • We were asked to move libstatistics_collector into the ros2 GitHub organisation because the tooling WG doesn’t want to maintain a core dependency of rclcpp.
      • The decision made was to not move it, but instead to have the functionality of that library (it’s not a huge library) available in rcl, so that all client libraries can benefit.
      • We would like a PR from AWS that does this.
    • Discussion on when to use parameters versus when to use service + a topic
    • Many small topics as in the minutes

  • [Biggs] Safety

    • No updates this month

  • [Deray] Security

    • Wg meeting on the 17th May (postponed by a week wrt to usual schedule). Catching up on the documentation efforts, discussion around research papers to study in future meetings.

  • [Macneil] Web

    • Last 2 meetings have not had any non-Foxglove participation. Should we combine WebTools and Tooling WGs?
    • Rosbridge performance issues - discussing mitigation options or a c++ rewrite
    • Fixed bugs with publishing from ros1 JS package (ros1#22, ros1#23)

  • Fixed handling of large messages in ros2/rtps JS (rtps#18)

  • [Knapp/Blasdel] Tooling

    • No WG meetings since last TSC meeting - on hiatus while Emerson was on vacation

In the time remaining before the end, Brett Aldrich announced that there would be an informal SMACC Working Group forming in the next few weeks.

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