TSC Meeting Minutes 2019-04-18

General
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ROS 2 TSC Meeting Minutes: 18 April 2019

  • Attendees:
    • Allison Thackston (TRI)
    • Brian Gerkey (Open Robotics)
    • Brian Shin (LG Electronics)
    • Dejan Pangercic (Apex.AI)
    • Dirk Thomas (Open Robotics)
    • Filipe Rinaldi (Arm)
    • Geoffrey Biggs (Tier IV)
    • Jaime Martin Losa (eProsima)
    • Jonathon Smereka (TARDEC)
    • Karsten Knese (Bosch)
    • Louise Poubel (Open Robotics)
    • Matthew K Hansen (Intel)
    • Rutvik Hora (Amazon)
    • Seonman Kim (LG Electronics)
    • Tully Foote (Open Robotics)
    • Victor Mayoral Vilches (Acutronic Robotics)
  • Old business:
    • [2 min] [Brian] ROS trademark update
      • Brian providing usage specimens to lawyers for filing.
      • TSC: volunteers to form small group to work on usage policy?
        • Geoff
        • Jaime
        • Brian
    • [2 min] [Brian] Elevator pitch
      • Brian iterating on draft with layout designer. Should have something ready in the next week or so.
        • Brian to integrate links (comment from Matt H.)
    • [2 min] [Brian] TSC content in ROS 2 docs
    • [2 min] [Dirk] Transition plan from waffle.io
      • waffle.io shuts down May 16 (https://waffle.io/)
        • Want public state to determine the status of the board.
        • Also want multiple organizations in a single board, but might not be achievable.
  • New business:
    • Working group document storage and communication channel
      • We’ll continue a thread in Discourse, tentatively looking at adding discourse categories to collect working groups in a hierarchy.
    • [2 min] [Brian] Open Robotics hiring Evangelist
    • [15 min] [Brian] Dashing release communication plan
      • Planned Support Cycle:
        • LTS: 2 years
      • Features: need to accumulate key feature list
        • Google doc for commenting open to everyone
        • Brian to set that up
      • Demos: who has demos to include?
        • Several TSC members planning to include demos, aiming for screenshots, videos, narrative text, and/or tutorials describing how to replicate the work.
        • Demos from outside the TSC also welcome!
  • Standing updates:
    • [15 min] [All] Release planning - dashing update:
      • Apex.AI
      • Acutronic Robotics
      • Bosch
        • Ongoing work with diagnostics. Waiting for PRs to be merged.
        • Preparing buildfarm CI job to build rosbag2.
      • Amazon
        • QoS PRs in progress. Working end to end with RTI & OpenSplice
        • Testing in progress against FastRTPS v1.8 that supports these QoS
        • Security threat model is merged. Contributions from Acutronic for MARA
        • ASAN/TSAN jobs are running. Our team is working on stack ranking and fixing issues.
      • eProsima
        • Deadline, lifespan, and liveliness QoS Supported on Fast RTPS 1.8
        • Static Memory allocations. It is a WIP, but discovery allocations will be all static in Fast RTPS 1.8, and many others.
      • Open Robotics
        • IDL support landed
          • 3rdparty generators need updates
          • Rospy generated content now leverages numpy might be API changes
        • Intraprocess efficiency/performance improvements
        • C++ API for composable nodes
        • Launch support for loadable components
        • New generation of Launch API
        • Read Only Parameters
        • XML frontend for Launch(might fall back)
        • Range support for Parameters, in process by at risk for feature freeze deadline.
        • Fixed rclpy memory leak, expect backport
        • rosbridge_suite port is ongoing
        • Infrastructure and CI jobs improvements
        • Support for generating RPM spec files expected
      • LG Electronics
        • In Progress: OpenEmbedded Platform support
        • Merged PRs to rosdep and rospkg that were needed for OpenEmbedded
        • Submitted PR for superflore upstream, under review
        • Have reference HW demo on Raspberry Pi 3 with set of Crystal packages using superflore automatically generated recipes
        • Working on extended Crystal package support (currently 275 packages)
        • Will build Dashing packages now that Dashing distribution index has been released
      • Microsoft
        • Working with Open Robotics on ROS 2 release logistics for the Windows side, including how to host chocolatey packages, ROS bridge and vcpkg integration.
        • Stood up a colcon build on Azure DevOps
        • We’re going to add an installer to rosdeps so that when a chocolatey package is not available, rosdep will consult vcpkg to see if a recipe is available and offer to download, build and install.
        • Working on a vcpkg feature to export chocolatey packages
    • Working groups:
      • [5 min] [Matt H] Navigation
        • Added Obstacle Layer - still doing some tuning
        • Converting nodes to lifecycle nodes, for improved bring up / shutdown reliability - in code review
        • Converting to using Actions across the stack
        • Adding recovery behaviors via behavior tree
        • Adding parallel planning
        • Moving to using BehaviorTree_CPP v3.0
        • Support integration of system test into ROS2 build farm? (need to discuss)
      • [5 min] [Rutvik] Security
        • Threat Model is merged, Turtlebot and MARA models
        • Setting a 2 week cadence for ongoing meetings
      • [5 min] [Dejan] Real-time and safety
      • [5 min] [Karsten] Embedded
        • No updates as for now. Preliminary work has to be done before the next meeting, presumingly in May.
      • [5 min] [Víctor] Motion planning WG Suggestion
        • Discussion of plans and planned actions, input from TSC
    • Late new business:
      • [Rutvik] armhf (32-bit ARM) support
        • Seeing demand for armhf
        • Looking to improve the toolchain
        • ARM interested in supporting this
        • Also of interest to Apex to avoid requiring hardware, all platforms are arm based
        • Target Tier 3 to start, want to push it up to at least Tier 2
      • [Brian Shin] Definition and requirements for new platform support
        • Rep-2000: http://www.ros.org/reps/rep-2000.html
        • OpenEmbedded as Tier 3 platform
          • Would like more definitions for what the requirements are for the tiers.
          • A process for being selected/supported would be valuable
      • [Karsten] State of real time within ROS 2
        • State of executor
          • How can we approach proposing changes to this?
            • Design Doc or PR proposals are best or go through working doc
        • ROS 2 and Real-time discourse post
      • New TSC member inquiries
        • Looking for ways to engage, how can they get involved? What can we send them? They’re looking for chunks of work to pick up to demonstrate interest.