ROS 2 TSC Meeting Minutes: 2019-09-19
- Attendees
- Brian Gerkey, Dirk Thomas, Louise, Tully - Open Robotics
- Jaime Martin Losa - eProsima
- Joe Speed - ADLINK
- Toffee Albina - TRI
- Kyle Fazzari - Canonical
- Lyle Johnson - Apex.AI
- Matt Hansen - Intel
- Pyo - ROBOTIS
- Steve Macenski - Samsung Research America
- Adam - AWS
- Karsten - Bosch
- Brian Shin - LG
- Geoff - Tier IV
- Sean Yen - Microsoft
- Jerry Towler - SwRI / GVSC
- Old business
- [Gerkey] ROS Trademark update
- Moving forward slowly.
- [Gerkey] ROS Trademark update
- New business
- [Gerkey] ARM stepping back from TSC
- Thanks for their contributions to date!
- [2 mins] [Gerkey] Intro of new TSC members
- ADLINK: Joe Speed
- Canonical: Kyle Fazzari
- [2 min] [Joe Speed] interested in Edge AI working group to enable “better user experience for HW accelerated ML”? Will draft proposal with other TSC members.
- Interest from Tier IV, AWS, and Samsung, follow up afterward with Joe
- [M. Hansen] Manipulation WG ownership and MoveIt 2
- Plenty of interest; need someone to lead the group. No volunteers at this point; tabled until next TSC meeting.
- Potential goal: get MoveIt 2 ready for ROS 2 F-Turtle
- [A. Duncan] New Working Group “ROS 2 Tools”
- We’ll start broad and adjust/refine as we go
- Announcement on Discourse 9/20
- First meeting planned for first week in October
- [A. Duncan] Forthcoming proposal for ROS 2 Development/Release framework
- Currently pre-circulating in small cycles. Planning an out of band design review for the TSC.
- [Gerkey] ARM stepping back from TSC
- ROS 2 Eloquent Updates
- Apex.AI updates for ROS 2 E release
- ROS 2 Eloquent Elusor · Issue #734 · ros2/ros2 · GitHub => Update 2019-Sep-19
- Question: Apex.AI seems to be the only one actively updating the comments in ROS 2 Eloquent Elusor · Issue #734 · ros2/ros2 · GitHub
- Bosch Updates
- Diagnostics released for Dashing
- contains self-test, diagnostics_updater
- diagnostic-aggregator waiting on cross-platform release for bond-core
- zero-copy-api
- first draft of a design doc in collaboration with Apex https://github.com/ros2/design/pull/256
- development branch for reference implementation (zero_copy_api) PRs being opened ASAP.
- executor development
- joint collaboration with Nobleo SingleThreadedExecutor creates a high CPU overhead in ROS 2 - #12 by Ingo_Lutkebohle - ROS General - Open Robotics Discourse
- Nobleo has first draft of static executor (which allows to measure in return the computational cost for considering dynamic nodes by iterating over the corresponding weak-pointers over and over again in the rclcpp single threaded executor) GitHub - nobleo/rclcpp-static-executor: ROS2 dashing diademata rclcpp extended with a static executor POC
- rcl LET Executor (developed in context of micro-ROS)
- timing analysis
- tracetools could be used to analyze timing behavior: Basic trace instrumentation by iluetkeb · Pull Request #789 · ros2/rclcpp · GitHub
- Diagnostics released for Dashing
- Samsung Updates: Theme: Configurability
- Navigation2
- Created nav2_core plugin definitions for planner, recovery, controller. Still thinking about the best options for configurability in the behavior tree
- Created nav2 planner server / recover server to act as the action server for N plugins
- Factored out algorithms of the existing recoveries and planner to use new new2_core plugin definitions
- Other: Began porting Slam Toolbox to ROS2. Will be available shortly.
- Ported ROS2 Dashing for TEB local planner
- Robot localization
- Not yet released in Dashing, not really stable in ROS2 yet
- Working from the ground up to get all its upstream dependencies ported to ROS2 and released.
- Navigation2
- ADLINK Updates: Theme: faster, smaller, more reliable ROS 2
- ROS 2 E contribs mostly ros2/rmw_cyclonedds, which is in ROS 2 buildfarm
ROS 2 Eloquent Elusor · Issue #734 · ros2/ros2 · GitHub - community suggested enhancements, e.g. multicast auto-tune for wifi
- working on ROS 2 test coverage
- Linux, OSX, Windows, FreeRTOS. QNX late 2019 for RT WG
- built into ApexAI/performance_test for Real-Time WG build farm
- DDS Security v1.1 in 4Q 2019
- Modern C++ DDS API for ROS 2 E release
- one user’s experience video & details, there are other users
- ros2/rmw_opensplice - ROS 2 E & Nav2 fixes because. DDS Security is WIP for community edition, is in commercial edition
- ROS 2 E contribs mostly ros2/rmw_cyclonedds, which is in ROS 2 buildfarm
- eProsima
- Fast RTPS 1.9.1 Release (end of this week)
- Bug fixing release
- Support for Windows, Linux, OSX, QNX, VxWorks, Android, iOS
- DDS Security
- X-Types
- Static Memory Allocation
- Non-Blocking Calls
- Discovery Server 1.0
- Fast RTPS Patch for WIFI (from Fast RTPS 1.8.1)
- More reliable discovery on multicast lossy networks
- Shared Mem - WIP - Open Source
- Modern C++ DDS API - WIP - Open Source
- Micro-ROS
- Hired key engineer to work on hardware layer
- Fast RTPS 1.9.1 Release (end of this week)
- Tier IV updates
- Still resource-constrained
- Hoping to have good luck at ROSCon JP next week…
- Potentially will hire a company that specialises in hard real-time and deterministic embedded software to work on making the ROS 2 stack real-time-safe (especially memory-safe) and also look into adding executors/APIs for deterministic behaviour of systems)
- Considering hiring a new engineer as a full-time contributor to ROS 2
- Still resource-constrained
- Need to know who to talk to about getting Debian supported as Tier 2 in either Eloquent or F
- Point relevant people at Dirk (for Eloquent might relay to the ROS Boss in charge of that ROS distro which is Michael Carroll…)
- TRI Updates
- Continuing to work with OSRC on the Eloquent items that we are addressing jointly
- Continuing to test updates/fixes of ROS 2 on robots
- ROBOTIS Updates
- TurtleBot3 for ROS 2 Dashing
- OpenMANIPULATOR for ROS 2 Dashing
- Canonical Updates
- Writing design documents for node IDL and its ramifications (including security)
- Completed ROS 2 port of teleop_tools
- Microsoft Updates
- Enabled VSCode ROS Extension for ROS2 on existing features and working on the debugging capability for ROS2
- LG Electronics Updates
- Updates to OpenEmbedded repo of ROS/ROS2 packages meta-ros
- Updated to match updated Dashing index
- Preparing to change structure or repo to split layers based on ROS distro
- Working on Turtlebot3 physical robot demo with OpenEmbedded OS (OpenEmbedded Build Instructions · ros/meta-ros Wiki · GitHub).
- Designing CI system for keeping meta-ros up-to-date with rosdistro index
- Updates to OpenEmbedded repo of ROS/ROS2 packages meta-ros
- Apex.AI updates for ROS 2 E release
- Working group updates
- [K. Knese] Embedded
- Every 4th Monday of the month.
- Next meeting is Monday, 23rd September at 7am UTC (-> 9am MEST, 4pm JST)
- Minutes of last meeting: ROS ２ Embedded SIG meeting #4 - Google Docs
- Akihiko (eSOL) can help organizing meetings if local meetings are needed in Asia/Pacific. However, no participant was interested in supporting Borja (eProsima) and Ingo (Bosch) in organizing the WG itself
- Every 4th Monday of the month.
- [M. Hansen] Navigation
- Meets every Thursday 3pm Pacific
- Need to add to Google Groups / calendar
- Forthcoming integrated calendar / group system (from Tully)
- Need to add to Google Groups / calendar
- Integrated system test into upstream ROS build farm
- Working through issues found in low % of test runs (1-5%)
- Test now passing >95% rate
- Verified Nav2 using cycloneDDS
- Updated Nav2 to work with Cartographer
- map_server was re-written (Rover Robotics contribution)
- Adding plugin layer for local & global planners (nav2_core)
- Dashing update - 0.2.4 release
- Overall, 53 PRs were merged, 42 issues were closed in last 30 days
- Meets every Thursday 3pm Pacific
- [L. Johnson] Real time
- The WG met on August 21: ROS2 Real-time Working Group Online Meeting 2 - Aug 21st, 2019 between 7AM and 8AM PDT (UTC-7) - ROS General - Open Robotics Discourse. Attendance around 15 people. Main items discussed were:
- Create an rmw implementation which works for a single process => ADLink volunteered to do this
- Tobias Blass presented his paper https://t-blass.de/papers/response-time-analysis-of-ros2.pdf
- William Woodal presented findings of memory audit in rmw, rcl and rclcpp
- Meeting recordings available here: ROS2 Real-time Working Group Online Meeting 2 - Aug 21st, 2019 between 7AM and 8AM PDT (UTC-7) - #19 by Dejan_Pangercic - ROS General - Open Robotics Discourse
- Andrei Kholodnyi volunteered to co-chair the group
- Next Meeting: Week of Sep 30
- The WG met on August 21: ROS2 Real-time Working Group Online Meeting 2 - Aug 21st, 2019 between 7AM and 8AM PDT (UTC-7) - ROS General - Open Robotics Discourse. Attendance around 15 people. Main items discussed were:
- [G. Biggs] Safety
- Still struggling to find a feasible direction
- There is growing interest in creating a catalogue of safety patterns and how to do them in ROS, so we may try and push in that direction
- There is also interest in creating some kind of safety architecture, but this is difficult. However, will not rule it out.
- Next meeting is on September 26th. Meetings are registered in the ROS WGs calendar.
- [K. Fazzari / A. Duncan] Security
- The WG met on September 17th: ROS2 Security Working Group Online Meeting - September 17th, 2019 between 10AM and 11AM PDT (UTC-7) - ROS General - Open Robotics Discourse. Attendance around 10 people. Main items discussed:
- Canonical will start chairing the Security WG
- roslaunch2 sandboxing
- Ramifications of breaking the 1-1 mapping between nodes and DDS participants
- The WG met on September 17th: ROS2 Security Working Group Online Meeting - September 17th, 2019 between 10AM and 11AM PDT (UTC-7) - ROS General - Open Robotics Discourse. Attendance around 10 people. Main items discussed:
- [K. Knese] Embedded
- Other:
- Make meeting 90 minutes?
- No objections. Brian to update calendar invite.
- Current alternating schedule working OK?
- No reasonable alternatives proposed
- Reminder: put your contributions and updates for Eloquent in the github ticket.
- Have an in-person TSC meeting at ROSCon: Brian to schedule
- Make meeting 90 minutes?