ROS 2 TSC Meeting Minutes: 2019-10-17
- Attendees
- Southwest Research Institute, representing CCDC GVSC - Jerry Towler
- Samsung Research America - Steve Macenski
- ADLINK - Joe Speed
- Amazon - Adam Duncan, Thomas Moulard, Aaron Blasdel
- eProsima - Jaime Martin Losa
- Toyota Research Institute - Toffee Albina
- Bosch - Karsten Knese
- Open Robotics - Brian Gerkey, Dirk Thomas, Tully Foote
- Tier IV - Geoff Biggs
- Intel - Matt Hansen
- LG Electronics - Brian Shin
- Microsoft - Sean Yen
- Apex.AI - Dejan Pangercic
- Old business
- [Hansen] Follow up on MoveIt2 - There is some good news that Picknik has secured some funding to begin working on the port again, but there is still help needed. We at Intel are committed to contributing to the port, but would like a call to action from other TSC members to also commit some resources to helping.
- Plan to meet and discuss at ROSCon
- Hansen to start a discussion on Discourse looking for help.
- [Speed] Edge AI WG status
- Steve, Adam, Geoff, Tully, Joe wrote proposal. Will post on discourse next week to get input & solicit interest
- [Duncan] Tooling WG status
- Discuss later in this meeting
- [Duncan] Development/Release framework
- PR to REP in progress: https://github.com/ros-infrastructure/rep/pull/209
- TSC and everyone invited to review and offer feedback
- Elevator pitch: if a previously released package is building and testing successfully, then no developer bloom-type action should be required to automatically include it in a new “rolling” distro.
- [Gerkey] In-person TSC informal gathering at ROSCon
- Set for Oct 30th @ 1715-1815, location TBD (bar/lounge nearby workshop location, Joe is buying a round)
- Gerkey to send out location and calendar invite before then
- Set for Oct 30th @ 1715-1815, location TBD (bar/lounge nearby workshop location, Joe is buying a round)
- [Hansen] Follow up on MoveIt2 - There is some good news that Picknik has secured some funding to begin working on the port again, but there is still help needed. We at Intel are committed to contributing to the port, but would like a call to action from other TSC members to also commit some resources to helping.
- New business
- [Hansen] I posted this a few days ago regarding ROS2 SLAM: http://discourse.ros.org/t/supporting-maintaining-slam-in-ros2-input-requested
- I would like to hear more input from OSRF and other TSC members, please
- TSC members to comment on thread
- Hansen to lead decision process within Navigation WG to pick one implementation to focus on for development and support
- [Hansen] What’s the status of the google groups / working group calendar? I’d really like to move the Nav2 WG to be using the google groups and calendar instead of my own personal one. Also is there a google docs area for meeting notes?
- New scheduling process described her: Add working group calendar and google groups info by tfoote · Pull Request #361 · ros2/ros2_documentation · GitHub
- [Duncan] Welcome Aaron Blasdel: https://www.linkedin.com/in/aaronblasdel/
- Aaron is new Amazon TSC rep
- [Moulard / Duncan] Present proposal for more explicit WG operating rules. Heavily inspired by Kubernetes governance model (where Kubernetes SIG → ROS 2 WG).
- Planning to try it out in the new Tooling WG and iterate there, bringing back feedback on the process to TSC periodically
- Some questions open about how to manage ownership of repos across WGs.
- [Duncan] AWS RoboMaker Now Supports ROS 2 - D:
- [Toffee] T-TR1 ROS 2 robot for 2020 Olympic Games Toyota Olympic Robots announcement
- [Gerkey] Discuss ROS trademark usage guidelines
- Draft from Open Robotics legal counsel now under review by TSC.
- Deadline for posting: Dec 1st.
- [Hansen] I posted this a few days ago regarding ROS2 SLAM: http://discourse.ros.org/t/supporting-maintaining-slam-in-ros2-input-requested
- Recurring business
- Eloquent release status
- [Thomas] API and feature freeze for core packages planned for tomorrow Oct. 18th
- [Gerkey/Thomas] Let’s all review the Eloquent ticket
- [Albina] TRI continues to work with OSRC on the Eloquent tasks they have on their plate
- [Hansen] How can we flag blockers for Eloquent?
- If you see something that you consider to be a blocker, comment on that ticket (wherever it lives) to assert that position (e.g., “This issue is a blocker for Eloquent; please escalate priority to address.”).
- Should we collect a list of Eloquent blockers somewhere and if so, how and where?
- Gerkey to look into this. Foote suggests working with the ROS Boss.
- Apex.AI updates for the last month are listed here: ROS 2 Eloquent Elusor · Issue #734 · ros2/ros2 · GitHub => Update 2019-Oct-17
- AWS: Recent updates:
ROS 2 Eloquent Elusor · Issue #734 · ros2/ros2 · GitHub - Tier IV:
- Tier IV has contracted with a real-time embedded software specialist company to provide 3 FTEs to work on real-time and deterministic execution for ROS 2. We expect them to get up to speed over the next few months, so they will not be able to contribute to Eloquent. We will coordinate their work via the real-time WG.
- Tier IV’s efforts to bring Debian to Tier 2 status are starting to bear fruit but there are still some catches.
- Unable to compile any GUI tools. The reason is under investigation.
- Unsure if we need our own Connext DDS license to do binaries and tests for those parts of the stack: Adding Debian as a Tier 2 platform - #10 by sousou1 - ROS General - Open Robotics Discourse
- ADLINK: recent updates, ROS 2 E developer improvements ROS 2 Eloquent Elusor · Issue #734 · ros2/ros2 · GitHub
- ePROSIMA
- Dashing patched with several fixes: Fast RTPS 1.8.2
- Improved discovery performance
- Fixed Wifi issues
- RasperryPi3 Wireless communication problem · Issue #315 · ros2/rmw_fastrtps · GitHub
- Nav improved (Matt feedback)
- Also Rover Robotics confirms the improvements
- Fast RTPS 1.9.2
- Bug fixing and discovery patches.
- Dynamic Types
- Modern C++ API. Ready to release.
- Performance
- Scalability Tests: large systems
- Shared Mem Transport Started
- ROSIN funding
- SONY Partnership
- Micro-ROS
- Dashing support.
- Cool Demo ready for ROSCON
- Dashing patched with several fixes: Fast RTPS 1.8.2
- Working group updates
- [Geoff] Safety
- Working group regular participant numbers have shrunk to two
- But we have a Plan!
- Will focus our activities on producing sample ROS structures for common safety patterns (as discussed in previous TSC meeting).
- A project has been acquired courtesy of Tully, where we will start producing content. It is hoped that by starting to produce content we will kick-start some discussion and further contributions from new people.
- [Dejan] Real-time
- 2 meetings in the last month ROS2 Real-time Working Group Online Meeting 4 - Oct 16, 2019, 7AM PDT (UTC-7) - ROS General - Open Robotics Discourse and ROS2 Real-time Working Group Online Meeting 3 - Oct 2, 2019, 7AM PDT (UTC-7) - ROS General - Open Robotics Discourse
- We are working on the following topics:
- Real-time and static executor
- Single process, real-time rmw
- Static memory audit and improvements
- Tools for static and dynamic code analysis and tracing => here we should at least see if it fits the newly formed Tooling WG that Amazon is leading?
- Performance testing platform for the ROS2 community
- Issue 1: we have several PRs for which we need the core ROS 2 team to give feedback on the PRs and review and merge. Going forward we will also need much interaction with the core ROS 2 team (for now we got William to attend our regular calls)
- Issue 2: we are looking for contributors to the real-time rmw (and unable to find any hands besides ADLINK)
- [Geoff] Safety
- Eloquent release status