ROS 2 TSC Meeting Minutes - 2020-07-16

[gerkey]

ROS 2 TSC Meeting Agenda 2020-07-16

• Attendees
  • Apex.AI: Dejan Pangercic
  • ADLINK: Joe Speed
  • eProsima: Jaime Martin Losa
  • Bosch: Karsten Knese
  • Samsung: Steve Macenski
  • Rover Robotics: Nick Fragale
  • TRI: Toffee Albina, Ian McMahon
  • Microsoft: Sean Yen
  • ROBOTIS: Will Son
  • Amazon: Aaron Blasdel
  • LG Electronics: Lokesh Kumar Goel
  • Open Robotics: Brian Gerkey, Dirk Thomas, Chris Lalancette, Tully Foote, Louise Poubel
  • Canonical: Kyle Fazzari
  • Intel: Harold Yang
  • SwRI, representing CCDC-GVSC: Jerry Towler
  • PickNik: Dave Coleman
• Preliminaries
  • [Gerkey] Open Robotics rep change: Chris Lalancette
  • [Toffee] TRI rep change: Ian McMahon
• Old business
  • [Macenski] Pending REP-2005 PRs for inclusion (robot_localization, slam_toolbox, navigation.ros.org, bond)
  • [Gerkey] Need follow-up on performance issues discussion
    • TSC-internal doc in progress
• New business
  • [Gerkey] Reminder to fill in your contribution report, to be included in the minutes
  • [Aaron] Will look into sharing the Amazon script for generating contribution reports with TSC members.
• Recurring business
  • Working groups [TBD mins each]

    • [Knese] Control

      • First big design PR, how to compose robot hardware dynamically through URDF: https://github.com/ros-controls/ros2_control/pull/101
      • Trying to set up RT CI: Tests on RT-PREEMPT · Issue #118 · ros-controls/ros2_control · GitHub
      • Porting controllers from ROS1 to ROS2: Implement forward_command_controller from ROS1 · Issue #78 · ros-controls/ros2_controllers · GitHub
      • First try to cross-talk with manipulation WG: Proposed interface with MoveIt2 (high level) · Issue #116 · ros-controls/ros2_control · GitHub

    • [Speed] Edge AI

      • 43 community responses, could use more. Please share widely this ROS user ML survey https://forms.gle/eMVGUqpXNgVPfBGs7
      • July 23rd WG meeting: review ROS user ML survey, plan next steps, ros2 YOLACT guest speaker, NVIDIA’s planned contrib

    • [Martin Losa] Embedded

      • We’ll retake the meetings starting the next 22nd of July, at 5 pm CEST (8 am PDT), every four Wednesdays.
      • Micro-ROS: Foxy Official Release is delayed until the end of this month. The current status:
        • There is a feature/foxy_migration branch (PR)
        • Tested on FreeRTOS, Zephyr and Nuttx, on the boards: Olimex STM32-E407, ST Discovery IoT y Crazyflie 2.1.
        • Doing a latest code review, and improving docs to create a better release.

    • [Macenski] Navigation

      • 3 students joining us this summer working on localization, testing, and dynamic obstacle avoidance capabilities
      • Released Navigation2 and dependencies for Foxy
      • Holding retention at about 20 people attending working group meetings
      • Big pushes on test coverage, now at 70% total coverage with 5 packages exceeding 90%.
      • Working on getting other senior co-maintainers from companies and research organizations that rely on Nav2 / ROS2 mobile robot support, any interest please reach out. We currently fail the ‘bus test’.
        • So far Rover has committed to 0.25 FTE to help me triage and review. Looking for 1-2 more organizations to help part time to have distributed support

    • [Pangercic] Real-time

      • We have proposal for “Threaded Callback with priority, affinity and overrun handler”: Threaded Callback with priority, affinity and overrun handler - ROS General - Open Robotics Discourse
      • ros2 timer latency measurement by @takuya.azumi
      • Invited talk: microblx Announcing the microblx-ROS connector block - ROS General - Open Robotics Discourse
      • Invited talk 2: High performance edge data processing using advanced lock-free techniques by Pablo Ghiglino (@pablogh) at Klepsydra
      • Starting to create a backlog of issues to work on: RTWG - Google Docs => 2.c
        • Are WG project templates ready?
          • Yes: An easy governance template for ROS 2 Working Groups - ROS General - Open Robotics Discourse

    • [Biggs] Safety

      • [Gerkey] Talk to Geoff and figure out how to handle reporting on this one.

    • [Fazzari] Security

      • CIS benchmark draft for ROS has been opened to the community (forum post with more info coming soon)
      • Working on internal vuln handling process
      • Released nodl v0.2 to Foxy
      • Updated NoDL design doc to reflect reality

    • [Blasdel] Tooling

      • Had “Big Ideas Day” to take time to consider the purpose of the WG. Landed on the following decisions:
        • First focus of the WG should be to present a clear backlog & roadmap, triage bugs and feature requests, and make it very easy for the community to know what is important to contribute to.
        • Will double down on quality, stability, and maintenance processes before taking on any new products.
        • Those new products should probably be focused on the “ROS-specific” e.g. rosbag2, diagnostics, ros development environment, (rviz, rqt?) and focus slightly less on e.g. CI which has a wider community building tools.
        • Semiweekly meetings will spend more time on the backlog.
      • Had first “Topic Specific Breakout Session” to discuss rosbag2 performance

    • Went very well, we like the idea of more “Breakout Sessions” to discuss designs for e.g. Diagnostics, Cross-compile, etc

    • Adam Dabrowski from Robotec presented his findings on rosbag2 performance, identifying low hanging fruit for us to prioritize.

      • https://github.com/ros2/rosbag2/files/4919058/ROS2_Tooling_Breakout_v2.pdf
      • Performance testing of rosbag2 · Issue #435 · ros2/rosbag2 · GitHub

    • [Coleman] Manipulation

      • Effort to reduce compile time of MoveIt
      • Started Noetic bloom release
      • Dropping Kinetic support in our primary branch
      • 2 GSoC students and 2 interns working on new features
      • Adding multiple planner support
      • Started Foxy bloom release
      • 80% of MoveIt functionality now ported to MoveIt 2
      • World MoveIt Day 2020 Recap
        • 67 pull requests merged
        • 100 pull requests opened

Monthly contribution self-reporting

Guidelines

• Each TSC representative: Please fill in your organization’s section with the engineering activities and other contributions that your organisation has made to ROS 2.
• Please fill your section prior to our next meeting on 2020-07-16.
• This report covers work done since the previous TSC meeting: 2020-06-19 - 2020-07-16. Don’t include work done earlier or planned for the future.
• Contributions may come from you, your colleagues, and/or external collaborators that you’re funding to do the work that’s reported.
• Each package to which you’re contributing should be included on the list of ROS 2 Common Packages.
• When possible, provide links to your contributions (e.g., pull requests).
• Provide enough detail for everyone to understand what was done.
• These reports will be included in the published meeting minutes.
• Example:
  • foo_org/bar_pkg
    • Implemented the whizbang feature (PR)
    • Investigated and reported on the superbad bug (comment)

Reports

• ADLINK Technology: Joe Speed

  • Preparing cyclonedds 0.7.0 for rolling, dashing and eloquent.
  • cyclonedds ease-of-use improvements, new features, performance, fixes for flakey tests, more Windows fixes, etc. Eclipse Foundation’s EMO reviews for release to Open Robotics August 5th
  • To support needs of several ROS community members, extensive testing and tuning with result that:
    • 2.4x throughput increase with defaults to 11Gbs with 100KB messages. Details here https://github.com/eclipse-cyclonedds/cyclonedds/pull/558
    • Fixed long latency for large messages including 10M point clouds https://github.com/eclipse-cyclonedds/cyclonedds/pull/555
  • fyi - 0.7.0 is the follow-up to release 0.6.0 that I didn’t sufficiently report on last month
    https://github.com/eclipse-cyclonedds/cyclonedds/releases/tag/0.6.0
    • SROS2 (please thank Canonical) & DDS Security
    • Mixed language programming, supporting multiple (de)serializers for a single topic in a single process
    • Improved QoS support: full support for deadline, lifespan and liveliness
    • Improved scalability in matching readers and writers
    • Improved tracing
    • Extension of platform support: Android, Android Auto; Known to work on FreeBSD, CheriBSD; known to work with the musl C library. Still supports Solaris 2.6 because Morgan & Erik are sentimental
    • Windows-specific changes: Fixes multicasts to addresses also used by non-Cyclone processes (caused by accidentally linking with an old sockets library); Correct handling of non-English network interface names

• Amazon: Aaron Blasdel

  • ament/ament_lint

    • [backport dashing] support flake8 3.8 | Emerson Knapp | https://github.com/ament/ament_lint/pull/252

  • colcon/colcon-bundle

    • Fix support for --pip-requirements | Devin Bonnie | https://github.com/colcon/colcon-bundle/pull/173
    • 0.0.23 | Anas Abou Allaban | https://github.com/colcon/colcon-bundle/pull/176
    • Bump to version 0.0.21 for release | Emerson Knapp | https://github.com/colcon/colcon-bundle/pull/172
    • Bump version to 0.0.22 for release | Devin Bonnie | https://github.com/colcon/colcon-bundle/pull/174
    • Use ubuntu mirrors package for debian sources.list | Anas Abou Allaban | https://github.com/colcon/colcon-bundle/pull/175

  • colcon/colcon-ros-bundle

    • Bump version to 0.0.15 for release | Emerson Knapp | https://github.com/colcon/colcon-ros-bundle/pull/41

  • ros-infrastructure/rospkg

    • Add Pop! OS detector | Emerson Knapp | https://github.com/ros-infrastructure/rospkg/pull/199

  • ros-tooling/action-pypi

    • Remove reviewers from dependabot config | Anas Abou Allaban | https://github.com/ros-tooling/action-pypi/pull/93

  • ros-tooling/action-ros-ci

    • Add symlink install only to build command | Anas Abou Allaban | https://github.com/ros-tooling/action-ros-ci/pull/263
    • Bump setup-ros to 0.0.21 | Thomas Moulard | https://github.com/ros-tooling/action-ros-ci/pull/237
    • Bump setup-ros to 0.0.22 | Devin Bonnie | https://github.com/ros-tooling/action-ros-ci/pull/239
    • Bump setup-ros to 0.0.23 | Devin Bonnie | https://github.com/ros-tooling/action-ros-ci/pull/243
    • Remove reviewers from dependabot config | Anas Abou Allaban | https://github.com/ros-tooling/action-ros-ci/pull/261

  • ros-tooling/action-ros-lint

    • Bump setup-ros to 0.0.21 | Thomas Moulard | https://github.com/ros-tooling/action-ros-lint/pull/126
    • Remove reviewers from dependabot config | Anas Abou Allaban | https://github.com/ros-tooling/action-ros-lint/pull/138

  • ros-tooling/cross_compile

    • Add more informative messaging when user provides unsupported OS value | Emerson Knapp | https://github.com/ros-tooling/cross_compile/pull/228
    • Add x86 mixin to fix error, and reformat mixin as compact yaml | Emerson Knapp | https://github.com/ros-tooling/cross_compile/pull/218
    • Allow relative paths for the workspace argument | Emerson Knapp | https://github.com/ros-tooling/cross_compile/pull/216
    • Don’t swallow exceptions in the timer | Emerson Knapp | https://github.com/ros-tooling/cross_compile/pull/227
    • Fix units to be units instead of measurable properties | Emerson Knapp | https://github.com/ros-tooling/cross_compile/pull/220
    • Rename data_timer api to just “timer” | Emerson Knapp | https://github.com/ros-tooling/cross_compile/pull/229

  • ros-tooling/libstatistics_collector

    • Add autoapprove action for dependabot | Prajakta Gokhale | https://github.com/ros-tooling/libstatistics_collector/pull/40

  • ros-tooling/setup-ros-docker

    • Create README.md | Devin Bonnie | https://github.com/ros-tooling/setup-ros-docker/pull/18
    • Only allow flake8<3.8 to be installed | Thomas Moulard | https://github.com/ros-tooling/setup-ros-docker/pull/16

  • ros-tooling/system_metrics_collector

    • Add autoapprove action for dependabot | Prajakta Gokhale | https://github.com/ros-tooling/system_metrics_collector/pull/156
    • Add automerge action for dependabot | Prajakta Gokhale | https://github.com/ros-tooling/system_metrics_collector/pull/157
    • Bump setup_ros version to fix test failure | Emerson Knapp | https://github.com/ros-tooling/system_metrics_collector/pull/150
    • Bump test and nightly actions versions | Devin Bonnie | https://github.com/ros-tooling/system_metrics_collector/pull/151
    • Use setup-ros-docker for the e2e test | Emerson Knapp | https://github.com/ros-tooling/system_metrics_collector/pull/149
    • [Test PR] No-op test commit | Prajakta Gokhale | https://github.com/ros-tooling/system_metrics_collector/pull/159
    • [Test PR] Prajaktg/test auto merge | Prajakta Gokhale | https://github.com/ros-tooling/system_metrics_collector/pull/160

  • ros2/demos

    • Remove deprecated warning for rclcpp in clang builds | Anas Abou Allaban | https://github.com/ros2/demos/pull/459

  • ros2/rclcpp

    • [Foxy] Add check for invalid topic statistics publish period | Devin Bonnie | https://github.com/ros2/rclcpp/pull/1172

  • ros2/rcpputils

    • Bump actions versions and add ament_package dependency workaround | Devin Bonnie | https://github.com/ros2/rcpputils/pull/75
    • Update actions to the latest versions | Devin Bonnie | https://github.com/ros2/rcpputils/pull/77

  • ros2/ros2_documentation

    • Add Topic Statistics to concepts | Devin Bonnie | https://github.com/ros2/ros2_documentation/pull/767

  • ros2/ros_buildfarm_config

    • Revert “Blacklist cartographer{_ros} for Foxy Focal arm64. (#101)” | Emerson Knapp | https://github.com/ros2/ros_buildfarm_config/pull/105

  • ros2/rosbag2

    • [foxy backport] Disable broken tests for pull requests (#440) | Emerson Knapp | https://github.com/ros2/rosbag2/pull/441

• Apex.AI: Dejan Pangercic

  • Apex.AI paid Robotec.AI for the rosbag2 performance investigation work Performance testing of rosbag2 · Issue #435 · ros2/rosbag2 · GitHub. With Bosch we also “supervised” the work..
  • Fixes in Pull requests · colcon/colcon-lcov-result · GitHub
  • Apex.AI will in the remaining of the 2020 have very low contribution to packages listed here: REP 2005 -- ROS 2 Common Packages (ROS.org) because of 2 reasons:
    • We are 100% focused on ISO 26262 certification of ROS 2 (findings of this process we will share in early 2021)
    • We drive and contribute masively to this project Autoware Foundation / Autoware.Auto / AutowareAuto · GitLab (which was not accepted in REP-2005)
    • We want to be fully transparent and If this fact requires actions or sanctions we will accept this

• Bosch: Karsten Knese

  • ros2/rclcpp
    • Callback-Group Executor demo was ported to Foxy. It is getting integrated by Pedro Pena: https://github.com/ros2/rclcpp/pull/1218/
  • ros2/rclc
    • Working on support for services, clients, and guard-conditions in rclc Executor.
    • Lifecycle node for C API, i.e. in micro-ros/rclc (and later ros2/rclc). Technically a wrapper around the rcl node: [WiP] lifecycle support by norro · Pull Request #38 · micro-ROS/rclc · GitHub
  • Micro-ros
    • Rolling release of system modes package (minor changes w.r.t. to deprecated APIs).
  • ros/diagnostics
    • Released Diagnostics in Foxy with Diagnostics Aggregator support: Aggregator bugfix, tests, and nicer example by norro · Pull Request #147 · ros/diagnostics · GitHub
    • RFC: Move maintainership of ROS1 branches to “Orphaned Package Maintainer Group”: Transfer ownership of ROS1 branches to "orphaned package maintainer group" · Issue #154 · ros/diagnostics · GitHub
  • ros2/rosbag2
    • Lots of little bug and test fixes
    • Working on improving the C++: use rclcpp serialized messages to write data by Karsten1987 · Pull Request #457 · ros2/rosbag2 · GitHub introduce defaults by Karsten1987 · Pull Request #452 · ros2/rosbag2 · GitHub minimal c++ API test by Karsten1987 · Pull Request #451 · ros2/rosbag2 · GitHub
    • Performance Testing Review (credits robotec.ai): Performance testing of rosbag2 · Issue #435 · ros2/rosbag2 · GitHub
  • ros-controls/ros2_control & ros2_controllers
    • Coordinating all efforts around re-architecture
    • First big design change PR: https://github.com/ros-controls/ros2_control/pull/101

• Canonical: Kyle Fazzari

  • ubuntu-robotics/nodl_python
    • Update design doc to reflect current reality
    • Move away from tooling WG actions and integrate codecov (test all packages and use codecov by Arnatious · Pull Request #22 · ubuntu-robotics/nodl · GitHub)
    • Remove qos until we have a better use-case (strip qos from nodl_python by Arnatious · Pull Request #23 · ubuntu-robotics/nodl · GitHub)
    • Split out coverage by package (separate coverage by project by Arnatious · Pull Request #24 · ubuntu-robotics/nodl · GitHub)
    • Move away from pkg_resources (fix schemas not being exported for lookup in other packages by Arnatious · Pull Request #25 · ubuntu-robotics/nodl · GitHub)
    • (in progress) Move from ambiguous true/false to role (add role field, replacing bool pairs by Arnatious · Pull Request #21 · ubuntu-robotics/nodl · GitHub)
    • Release 0.2.0 into Foxy (Update CHANGELOGs and package.xmls for 0.2.0 by kyrofa · Pull Request #29 · ubuntu-robotics/nodl · GitHub)
  • fastrtps/fastrtps
    • (in progress) Implement logging to DDS
  • ament/ament_lint
    • Add ability to customize ignored error codes to pep257 (https://github.com/ament/ament_lint/pull/241)
    • Remove use of ‘extend’ (remove use of "extend" action in argparse by Arnatious · Pull Request #262 · ament/ament_lint · GitHub)

• eProsima: Jaime Martin Losa

  • fastdds/fastdds
    • Phase III of Shared Mem Transport:
      • Design of architecture changes to avoid if possible copies, serialization and RTPS encapsulation
    • Scalability & Discovery improvements
      • Testing intensively discovery, including Server Based discovery, with real world examples, to improve performance
    • Large Data Persistence Support.
      • Fast DDS didn’t support trasient durability for large data, we are fixing that.
    • DDS API:
      • On_incompatible_qos support
    • 2.0 Bug fixing
  • micro-ROS
    • Intensive dissemination work. Many conferences to demonstrate Micro-ROS: ROS Developers Day, Bosch internal webinars, FIWARE webinars, Zephyr partnership, and others.
    • micro-ROS for Foxy in PR. Improving docs. Release delayed until end of July.

• Intel: Harold Yang

  • Enable moveit_ros_visualization/trajectory_rviz_plugin to MoveIt2 (Port trajectory_rviz_plugin by RoboticsYY · Pull Request #201 · moveit/moveit2 · GitHub)
  • Enable moveit_ros_benchmarks to MoveIt2 (Port moveit_ros_benchmarks by RoboticsYY · Pull Request #225 · moveit/moveit2 · GitHub), review in progress
  • ROS2 Realsense for Foxy release
    • librealsense: 2.34.0-1 in 'foxy/distribution.yaml' [bloom] by sharronliu · Pull Request #24528 · ros/rosdistro · GitHub
    • ros2_intel_realsense: 2.0.8-2 in 'foxy/distribution.yaml' [bloom] by sharronliu · Pull Request #24815 · ros/rosdistro · GitHub

• LG Electronics: Lokesh Kumar Goel

  • ros/meta-ros
    • Enabled support for Foxy release build for dunfell version of OpenEmbedded Platform
    • Added support for latest yocto releases: warrior, zeus and dunfell
    • Dropped support for Kinetic and Crystal in meta-ros
    • Updated recipes for Melodic, Dashing and Eloquent to Q12020 version of ROS and ROS2 index.
    • PR list: Pull requests · ros/meta-ros · GitHub
    • Roadmap: Superflore OE Recipe Generation Scheme · ros/meta-ros Wiki · GitHub (See Milestone 12 and 13)

• Microsoft: Sean Yen

  • Adding alternative installation for Windows daily build from aka.ms/ros channel. by seanyen · Pull Request #506 · ros2/ros2_documentation · GitHub
    • Met with Open Robotics and got a better understanding of what ideal to be released.
    • The work is booked by our team in August and we will update we make progress.
  • Added Windows Source Install and Binary Install Instructions. by lilustga · Pull Request #466 · moveit/moveit.ros.org · GitHub
    • Updated the MoveIt build instructions and installation for Windows users.
  • Porting MoveIt2 to Windows is in progress.

• Open Robotics: Dirk Thomas

  • Meta ticket for Galactic Geochelone: GitHub issue
    • Please consider posting your planned contributions there
  • The new ROS 2 distribution Rolling Ridley has been created (from Foxy) which represents the unstable development version of ROS 2. Future stable distros (like Galactic in May 2021) will be forked from Rolling some time before the release. [REP 2002, initial population]
  • Going Green™ initiative: significant progress of triaging test failures and warnings
    • Unfortunately Windows builds are broken since last night
    • CI packaging jobs: all green
    • CI nightly jobs:
      • most jobs are green, except:
        • *_repeated jobs: still having some test failures since flaky tests are more likely to show here
        • CentOS: has a compiler warning due to bullet, waiting for upstream update
        • clang_libcxx: a few compiler warnings remaining
        • Windows debug: some test failures, mostly geometry2
    • Rolling dev job (Linux only): almost all green
    • Rolling CI (Linux only): more updates hopefully next time

• PickNik: Dave Coleman

  • ros-planning/moveit2
    • Port trajectory_rviz_plugin (Port trajectory_rviz_plugin by RoboticsYY · Pull Request #201 · moveit/moveit2 · GitHub) *
    • Port moveit_fake_controller_manager to ROS2 ([Ready] Port moveit_fake_controller_manager to ROS2 by ddengster · Pull Request #202 · moveit/moveit2 · GitHub) *
    • simple_controller_manager_fixes, fix node spinning ([Ready] simple_controller_manager fixes from PR #187, remove spin_until_future_complete by ddengster · Pull Request #204 · moveit/moveit2 · GitHub) *
    • Port IKFast kinematics solver (Port Ikfast kinematics solver by JafarAbdi · Pull Request #205 · moveit/moveit2 · GitHub)
    • Port CachedIKKinematicsPlugin (Port CachedIKKinematicsPlugin to ROS2 by nbbrooks · Pull Request #207 · moveit/moveit2 · GitHub)
    • Enable clang-tidy-fix and ament_lint_cmake (Enable clang-tidy-fix and ament_lint_cmake by henningkayser · Pull Request #210 · moveit/moveit2 · GitHub)
    • Apply missing clang-tidy fixes (Apply missing clang-tidy fixes by henningkayser · Pull Request #215 · moveit/moveit2 · GitHub)
    • Preparations for Foxy branch (Foxy prep fixes by henningkayser · Pull Request #226 · moveit/moveit2 · GitHub)
  • ros-planning/moveit
    • MoveIt still synced routinely to MoveIt 2
    • During this 30 day date range 20 pull requests merged from PickNik (62%)

• ROBOTIS: Will Son

  • Update and release for Noetic/Foxy TurtleBot3 dependency packages
    • hls_lfcd_lds_driver
    • Turtlebot3_msgs
  • Working on applying ament_lint by GitHub Actions for ROS2 turtlebot3 packages

• Rover Robotics: Nick Fragale

  • Creating Webinar Series “Overcoming the challenges of teaching ROS and ROS 2 during COVID-19”, first one scheduled for July 21, will repeat bi-weekly or monthly, haven’t decided yet.
    • Registration Link
    • Link to events details page
  • Training Will Rook in on ROS 2 to increase contribution ability and reduce our dependence on Dan Rose being the oracle or ROS 2 knowledge internally. He has been on vacation and his absence was strongly felt in terms of ROS 2 progress.
  • Talking with computer vendors (simplyNUC and NVIDIA) on getting Ubuntu 20.04 pre-installed, the timeline of this will determine the adoption rate of ROS 2 Foxy and we want to make sure it happens before the school year starts.

• Samsung: Steven Macenski

  • Releasing Navigation2 and related ecosystem packages
  • Designing new localization framework to replace AMCL
  • Managing technical development of Hybrid-A*, Theta*, and OMPL planners
  • Porting Grid Maps to ROS2 for use in Navigation2
  • Increasing Navigation2’s test coverage
  • General Navigation2 community contribution and technical management
  • Adding Lifecycle BondCpp support

• GVSC: Jerry Towler (SwRI)

  • Contributing to rosbag improvements
    • DB3 bag is irrecoverable if metadata.yaml doesn't exist · Issue #395 · ros2/rosbag2 · GitHub
    • Add per-message ZSTD compression by pjreed · Pull Request #418 · ros2/rosbag2 · GitHub
    • Add per-message ZSTD compression by pjreed · Pull Request #418 · ros2/rosbag2 · GitHub
  • Continuing work on launch system refactoring
    • https://github.com/ros2/design/pull/272 (design addresses https://github.com/ros2/launch/issues/114)
  • Launch system refactoring leads into multi-machine launch control, which has been our primary goal for a while
    • https://github.com/ros2/design/pull/255

• Tier IV: TBD

• Toyota Research Institute: Toffee Albina (-> Ian McMahon)

  • We are working on initial support for SDFormat in the ROS2 ecosystem. Our first goal is to use SDF files with all the current URDF tooling: urdf, urdf_parser_plugins, joint_state_publisher, and downstream tools like robot_state_publisher and RViz. In this initial support, we are not dealing with certain SDFormat topologies that do not conform to URDF: no closed loop kinematic chains, only one model per file, limited support for meshes, but we hope to address these limitations in the future. Along the way, we have ported Collada plugin support to ROS2, as it was helpful to debug some of the other tooling in the pipeline. Please feel free to read and comment on the overarching proposal in this URDF issue:
    • https://github.com/ros/urdf/issues/34
  • Large caveat - pull requests are open, but nothing has landed yet
    • urdf_parser_plugin ported to ROS2 (allowing alternative file formats to populate URDF Model data): https://github.com/ros2/urdf/pull/13
    • Collada-URDF support ported to ROS2: https://github.com/ros/collada_urdf/pull/39
    • Initial SDFormat for ROS2 ecosystem: https://github.com/ros/sdformat_urdf/pull/1/files
    • joint_state_publisher support for robot_descriptions containing sdformat strings: https://github.com/ros/joint_state_publisher/pull/55

[Dejan_Pangercic]

@gerkey under Apex.AI contributions this text got doubled, can you remove 1/2?

Apex.AI will in the remaining of the 2020 have very low contribution to packages listed here: REP 2005 -- ROS 2 Common Packages (ROS.org) because of 2 reasons:

• We are 100% focused on ISO 26262 certification of ROS 2 (findings of this process we will share in early 2021)
• We drive and contribute masively to this project Autoware Foundation / Autoware.Auto / AutowareAuto · GitLab (which was not accepted in REP-2005)
• We want to be fully transparent and If this fact requires actions or sanctions we will accept this

[gerkey]

@Dejan_Pangercic

under Apex.AI contributions this text got doubled, can you remove 1/2?

Done; thanks for catching that.