# Maritime WG Meeting - June 7th 2022

**URL:** <https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750>\
**Category:** Marine Robotics\
**Tags:** wg-maritime-robotics\
**Created:** [May 25, 2022, 6:37am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750 "2022-05-25T06:37:18Z")\
**Posts on this page:** 11\
**Page:** 1

<div class="post-metadata">

**Author:** ![arjo129](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/arjo129/32/6316_2.png) [@arjo129](https://discourse.openrobotics.org/u/arjo129)\
**Post date:** [May 25, 2022, 6:37am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/1 "2022-05-25T06:37:18Z")

</div>

So we are back with the maritime working group meetings. The working group meeting will be held on google meet here:

Maritime Working Group - June Meeting  
June 7, 2022, 11;00pm – June 8, 2022, 12:00am (GMT +8) 2022-06-07T15:00:00Z→2022-06-07T16:00:00Z  
Google Meet joining info  
Video call link: [https://meet.google.com/hki-mmkm-aeg](https://meet.google.com/hki-mmkm-aeg)  
Or dial: ‪(US) +1 617-675-4444‬ PIN: ‪267 240 215 4207‬#  
More phone numbers: [https://tel.meet/hki-mmkm-aeg?pin=2672402154207](https://tel.meet/hki-mmkm-aeg?pin=2672402154207)

Based on feedback from the last few sessions we are moving away from the presentation based format to a more interactive format. This time our focus will be on our processes and some of the on going work of our members. The agenda is as follows:  
Tuesday Jun 7, 2022 8am PT

- Processes Discussion [25min]
  - Charter
  - Packages or Upstream stuff

- [Kanban Board](https://github.com/orgs/ros-maritime/projects/1) [Arjo]
  - Whats high and low priority?
  - Adding to the kanban board

- ROSCON BoF [Arjo]
  - Organizing “committee”
  - Talks

- Thruster manager [Matosinho]

Add other topics for discussion using comments below:  
If you’d like to discuss anything, feel free to comment on the agenda document: [https://docs.google.com/document/d/11y8PR-AHn1LOYE6rB-M-bGNkxkkob\_aonwhSh962vyc/edit?usp=sharing](https://docs.google.com/document/d/11y8PR-AHn1LOYE6rB-M-bGNkxkkob_aonwhSh962vyc/edit?usp=sharing)

---

<div class="post-metadata">

**Author:** ![destogl](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/destogl/32/7158_2.png) [@destogl](https://discourse.openrobotics.org/u/destogl)\
**Post date:** [May 25, 2022, 7:31am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/2 "2022-05-25T07:31:32Z")

</div>

Hi, I would like to shortly show our work on realizing ROV control with ros2\_control framwork. (Hope to give detailed talk on this on ROSCon). Most of the work will be mainlained into ros2\_control and ros2\_controllers repositories.

---

<div class="post-metadata">

**Author:** ![arjo129](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/arjo129/32/6316_2.png) [@arjo129](https://discourse.openrobotics.org/u/arjo129)\
**Post date:** [May 25, 2022, 9:50am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/3 "2022-05-25T09:50:51Z")

</div>

This sounds awesome. Is this using a real vehicle or a simulator (or both)? Which simulator are you using? @Matosinho keeps talking about thruster allocation. You can add your info to the agenda to document I linked as a comment.

---

<div class="post-metadata">

**Author:** ![destogl](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/destogl/32/7158_2.png) [@destogl](https://discourse.openrobotics.org/u/destogl)\
**Post date:** [May 25, 2022, 3:31pm UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/4 "2022-05-25T15:31:05Z")

</div>

We are using real hardware and hardware-specific simulator (and Mock System - Simulation in ros2\_control).

@arjo129 I have send you a private message about integrating Ignition‘s plugin with ros2\_control plugin for simple simulation. The goal would be tohave simulation with the same control stack as for the real hardware (the same approach we have for manipulators.

---

<div class="post-metadata">

**Author:** ![Matosinho](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/matosinho/32/12532_2.png) [@Matosinho](https://discourse.openrobotics.org/u/Matosinho)\
**Post date:** [May 27, 2022, 7:43am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/5 "2022-05-27T07:43:50Z")

</div>

Do you have a repo or something that you can share about it?

---

<div class="post-metadata">

**Author:** ![Matosinho](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/matosinho/32/12532_2.png) [@Matosinho](https://discourse.openrobotics.org/u/Matosinho)\
**Post date:** [May 27, 2022, 8:14am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/6 "2022-05-27T08:14:07Z")

</div>

Here is the google groups where we be posting about the meetings:

> **[Maritime Robotics Working Group - Google Groups](https://groups.google.com/g/maritime-robotics-working-group-invites)**

If you wanna get reminded every month about it, join it!

---

<div class="post-metadata">

**Author:** ![sina](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/sina/32/13657_2.png) [@sina](https://discourse.openrobotics.org/u/sina)\
**Post date:** [June 2, 2022, 7:37pm UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/7 "2022-06-02T19:37:46Z")

</div>

I have a question which I’ll ask in the meeting but before then I thought I’ll also bring it up here!  
I’m looking into possible options for a state estimation pipeline that can consume measurements from an underwater ROV, sensors like IMU,DVL, pressure altimeter and generate a continious high frequency state estimate. And hopefully has an ROV process model or has an interface to accept one.  
I have looked into [robot\_localization](https://github.com/cra-ros-pkg/robot_localization) but that seems to be tailored toward ground vehicles mostly.  
Does anyone knows any other ros packages that might be a better fit and hopefully is actively maintained?

---

<div class="post-metadata">

**Author:** ![destogl](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/destogl/32/7158_2.png) [@destogl](https://discourse.openrobotics.org/u/destogl)\
**Post date:** [June 6, 2022, 2:27pm UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/8 "2022-06-06T14:27:57Z")

</div>

@arjo129 why is the event entered as full-day in the ROS Events calendar? Can you please entercorrect time to be properly shown in calendars?

---

<div class="post-metadata">

**Author:** ![natrad100](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/natrad100/32/13700_2.png) [@natrad100](https://discourse.openrobotics.org/u/natrad100)\
**Post date:** [June 8, 2022, 1:32am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/9 "2022-06-08T01:32:17Z")

</div>

Thanks everyone for dialling in last night.

**Minutes:** [ROS\_MRWG\_Minutes\_20220607](https://drive.google.com/file/d/1sFB523tetqCDjtM31qcezkBZsZYAkZ3K/view?usp=sharing)

**Recording:** [ROS\_MRWG\_Recording\_20220607](https://drive.google.com/file/d/1ClNouN4w2QRszPIaRVMl2Qp9DtyjUag8/view?usp=sharing)

**Next Meeting:** 0800, 5th July 2022 PST 2022-07-05T15:00:00Z→2022-07-05T16:00:00Z

---

<div class="post-metadata">

**Author:** ![tfoote](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/tfoote/32/3813_2.png) [@tfoote](https://discourse.openrobotics.org/u/tfoote)\
**Post date:** [June 10, 2022, 12:57am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/10 "2022-06-10T00:57:43Z")

</div>

@natrad100 Can I suggest posting the minutes as a post here in markdown instead of linking to the PDF on google drive. A PDF on google drive will not appear in a search (even Google’s) and Drive links are prone to becoming invalid over time, when people have to clean out their storage, change email accounts etc.

---

<div class="post-metadata">

**Author:** ![natrad100](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/natrad100/32/13700_2.png) [@natrad100](https://discourse.openrobotics.org/u/natrad100)\
**Post date:** [June 10, 2022, 4:24am UTC](https://discourse.openrobotics.org/t/maritime-wg-meeting-june-7th-2022/25750/11 "2022-06-10T04:24:31Z")

</div>

> [@tfoote](#):
>
> @natrad100 Can I suggest posting the minutes as a post here in markdown instead of linking to the PDF on google drive. A PDF on google drive will not appear in a search (even Google’s) and Drive links are prone to becoming invalid over time, when people have to clean out their storage, change email accounts etc.

@tfoote Minutes are stored in the [ROS MRWG Community Repo](https://github.com/ros-maritime/community).  
As per your request see bellow:

# ROS2 MRWG - Minutes 7th July 2022

**Scheduled Time:** _0800 PST (GMT-08:00), 7th June 2022_

**Meeting Link:** [https://meet.google.com/hki-mmkm-aeg](https://meet.google.com/hki-mmkm-aeg)

**Meeting Opened:** 0805 PST (GMT-08:00), 7th June 2022

**Minutes Taken By:** Nathan Edwards

## Attendance

+1 617 \*\*\* \*\*44, Arjo Chakravarty, B Abraham, Denis Stogl, Gustavo Silva, Isaac Vandor, Laura Lindzey, Louise Poubel, Mabel Zhang, Olivier Kermorgant, Roland Arsenault, Shunong Wu, Sina Aghli, Wai Yen Chan, Yuri de Matos, Nathan Edwards

* * *

## Previous Minutes

- None Available

## Previous Action Points

- Nill / Discussed in GB

* * *

## General Business

**Charter**

- AC: Charter to finalised by the end of the week, can all please provide any additional changes / feedback on the PR - [#1](https://github.com/ros-maritime/community/pull/1)
  - No additional feature to be added

**Focus Items**

- LL: AUV Standard Interfaces
  - LL: standard interfaces started with acoustics
  - If there other messages we would like to include, we need to make a issue / PR apl-ocean-engineering/hydrographic\_msgs
  - ROS1 → ROS2 migration for tooling, recommended to be a separate repo
  - AC: Packaging up tooling
  - RA: RVIZ Plugin is still in alpha
  - MZ: repository needs to be somewhere that is maintained
  - AC: Need to come up with some maintainer

- AC: Focus on setting up the infrastructure
- Awesome-maritime-robotics to become a repository container useful repositories that we are working on
- LP: to present added mass SDFormat next meeting. This allows native use within ignition. This removes the need for the requirement for a plugin. PR - [gazebosim/gz-sim#1462](https://github.com/gazebosim/gz-sim/issues/1462)
  - Here’s the PR for the added mass proposal, don’t mind the broken Latex on the preview. Early feedback is highly appreciated, thanks! [gazebosim/sdf\_tutorials#76](https://github.com/gazebosim/sdf_tutorials/pull/76)

- AC: ROSCON
  - MZ propose an in-person format for networking with a virtual backup.
  - ALL in favour for MZ to start thinking about ROSCON

- YO Thruster allocation from URDF/SDF - [ros-maritime/issue\_tracking#9](https://github.com/ros-maritime/issue_tracking/issues/9)
- DS: ROS2 Control
  - ROV control architecture was presented.
  - Planning to open source some of the code and some of the data
    - Drivers may not be, including thruster manager
    - OpenSource strategy is being discussed

  - Requesting any feedback on this system

- SA Asked if anyone had a UKF state estimated that takes in ROV sensor suites
  - Robot Localisation Pipeline, biassed towards ground vehicles
  - YO noted that he found a c++ package that can do this, but needs to be packaged up in ROS.
  - Issue needs to be updated, SA to update issue.

- AC everyone to come back to the group, and have a point of interest to work on.
- ALL agreed to merge in the charter by the end of the week.

* * *

## Action Items

- MZ to start thinking about ROSCON
- ALL to review charter by 10/06/2022 for merge
- ALL to review Kanban board and raise any additional items

## Relevant Links

- MRWG Github - [ROS Maritime Robotics Working Group · GitHub](https://github.com/ros-maritime)
- Kanban Board - [Are We Maritime Yet · GitHub](https://github.com/orgs/ros-maritime/projects/1)
- Charter - [#1](https://github.com/ros-maritime/community/pull/1)

**Next Meeting:** 5th July 2022, 0800 PST

**Video Link:** [ROS\_MRWG\_20220607.mkv](https://drive.google.com/file/d/1ClNouN4w2QRszPIaRVMl2Qp9DtyjUag8/view?usp=sharing)

**Chat Transcript:** None