# ROS 2 TSC Minutes October 17th, 2018

**URL:** <https://discourse.openrobotics.org/t/ros-2-tsc-minutes-october-17th-2018/6541>\
**Category:** ROS General\
**Tags:** tsc\
**Created:** [October 19, 2018, 11:00pm UTC](https://discourse.openrobotics.org/t/ros-2-tsc-minutes-october-17th-2018/6541 "2018-10-19T23:00:58Z")\
**Posts on this page:** 1\
**Page:** 1

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**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:** [October 19, 2018, 11:00pm UTC](https://discourse.openrobotics.org/t/ros-2-tsc-minutes-october-17th-2018/6541/1 "2018-10-19T23:00:59Z")

</div>

# October 17th, 2018

- Attendees:
  - OR: Brian Gerkey, Tully Foote, Louise Pouble, Dirk Thomas
  - Apex: Dejan Pangercic
  - Bosch: Karsten Knese
  - LG: Seonman Kim
  - Robotis: Pyo Yoonseok
  - Microsoft: Lou Amadio
  - TRI: Allison Thackston
  - Amazon: Doug Fulop
  - Intel: Matthew K Hansen

- [discussion & decision] New TSC members to consider
  - Interest from multiple companies to participate.
  - Decision: @gerkey to follow up with each to get more information:
    - How they will help accelerate ROS2 development?
    - What projects are they interested in working on?

- [update] Status on ROS trademark application
  - Iterating with lawyers still

- [update] Status on DCO process for ROS 2 repos
  - Reviewed draft from Bosch, have not tried integrating into Github
  - Should be able to have it rolled out by Crystal

- [update] Review of ongoing work for Crystal:
  - Gazebo ROS packages
    - Mostly completed, one PR remaining

  - Launch
    - On track. Always more to be done, but looking good for well-featured release.

  - memory audit
    - Slow start, but should show some results for Crystal.

  - docs v2
    - [_https://index.ros.org_](https://index.ros.org) prototype live, will include/replace github wiki content

  - IDL
    - Parsing complete, working on AST to object representation. Next step generators

  - Actions
    - Design doc up for review [_https://github.com/ros2/design/pull/193_](https://github.com/ros2/design/pull/193)
    - In parallel implementation in progress [_https://github.com/ros2/examples/pull/216_](https://github.com/ros2/examples/pull/216)

  - build farm
    - Upgrading CI options: [_https://github.com/ros-infrastructure/ros\_buildfarm/pull/575_](https://github.com/ros-infrastructure/ros_buildfarm/pull/575)
    - Looking to upgrade Jenkins version

  - performance testing
    - Working on setting up Apex’s performance testing on the buildfarm

  - secure services: [_http://discourse.ros.org/t/ros2-security-working-group-online-meeting/6393/17_](http://discourse.ros.org/t/ros2-security-working-group-online-meeting/6393/17)
  - secure key management: [_http://discourse.ros.org/t/ros2-security-tools-for-development-and-production/6487_](http://discourse.ros.org/t/ros2-security-tools-for-development-and-production/6487)
  - logging: [_http://discourse.ros.org/t/ros2-logging/6469_](http://discourse.ros.org/t/ros2-logging/6469)
  - rqt (via PickNik): [_http://discourse.ros.org/t/rqt-in-ros2/6428_](http://discourse.ros.org/t/rqt-in-ros2/6428)
  - DDS improvements with eProsima (not in time for Crystal)
    - Ongoing Apex work with them:
      - “More” static / real time regarding memory allocation
      - Shared memory transport
      - Minimum DDS profile for compatibility

  - Migration tools: [_http://discourse.ros.org/t/ros1-to-ros2-migration-tools/6505_](http://discourse.ros.org/t/ros1-to-ros2-migration-tools/6505)
  - QoS [_https://github.com/ros2/rclcpp/issues/572_](https://github.com/ros2/rclcpp/issues/572)
  - Testing and fuzzing [_https://gitlab.com/AutowareAuto/AutowareAuto/issues/19_](https://gitlab.com/AutowareAuto/AutowareAuto/issues/19)
    - Formalizing integration testing need to move to new launch implementation

  - Rosbag [_https://github.com/ros2/rosbag2_](https://github.com/ros2/rosbag2)
    - Presented at ROSCon [_video_](https://vimeo.com/292707064) [_slides_](https://roscon.ros.org/2018/presentations/ROSCon2018_Lightning1_3.pdf)

  - Navigation [_http://discourse.ros.org/t/ros2-navigation-wg-next-thursday-10-18-18-10am-pacific-gmt-7-00/6443/7_](http://discourse.ros.org/t/ros2-navigation-wg-next-thursday-10-18-18-10am-pacific-gmt-7-00/6443/7)
    - Many components working not all of them yet, still running a bunch of components in ros1 via bridge for now such as rviz.
    - Waiting for gazebo and rviz in ros2
      - Links to be sent for latest development branches
      - Are we making tags/branches for crystal prerelease?
        - During development we’re keeping all default branches coordinated. There should never be a synchronization issue between the default branches.

  - Image\_pipeline - [_https://github.com/ros-perception/image\_pipeline/issues/360_](https://github.com/ros-perception/image_pipeline/issues/360)
  - geometry2/message\_filters - [_https://github.com/ros-planning/navigation2/issues/171_](https://github.com/ros-planning/navigation2/issues/171)
  - Performance improvements (Python bindings)
  - Superflore (ROS2 for OpenEmbedded, webOS)
  - ROS/ROS2 Simulator for Autonomous Driving and Robotics
  - Windows buildfarm targeted to be ready for Crystal
  - Working on ROS1 including `ros1_bridge` for compatibility [_http://discourse.ros.org/t/introducing-ros1-on-windows/6210_](http://discourse.ros.org/t/introducing-ros1-on-windows/6210) and [_Moveit_](http://discourse.ros.org/t/moveit-now-enabled-for-ros1-on-windows/6509)
  - TB3 on ROS 2 [_http://discourse.ros.org/t/tb3-introducing-ros2-tutorials/5959_](http://discourse.ros.org/t/tb3-introducing-ros2-tutorials/5959)
  - TB3 on ROS2 in Gazebo
    - Tutorials on how to use GazeboROS2pkgs
    - [_http://gazebosim.org/tutorials?tut=ros2\_overview&branch=ros2_](http://gazebosim.org/tutorials?tut=ros2_overview&branch=ros2)
    - [_http://gazebosim.org/tutorials?tut=ros2\_installing&branch=ros2_](http://gazebosim.org/tutorials?tut=ros2_installing&branch=ros2)
    - Coordinate with Intel about testing navigation stack and availability of TB3 simulator for navigation testing.

  - ros2arduino [_http://discourse.ros.org/t/ros2arduino-discussion-for-development-ros2-library-for-arduino/6498_](http://discourse.ros.org/t/ros2arduino-discussion-for-development-ros2-library-for-arduino/6498)

- [update] Review of unclaimed tasks for Crystal:
  - [_https://docs.google.com/spreadsheets/d/14GY9shcwa2QKnw5u5T7F\_2-4XuuwLkS3W20-tVp8EOY/edit#gid=0_](https://docs.google.com/spreadsheets/d/14GY9shcwa2QKnw5u5T7F_2-4XuuwLkS3W20-tVp8EOY/edit#gid=0)
  - Any blockers that we need to start work on now?
    - Follow up offline

- [discussion] How to track work being done for Crystal
  - Too many options now: Waffle, spreadsheets, Discourse, random emails
  - Proposal: converge on issues in github and which then show in [_https://waffle.io/ros2/ros2?milestone=crystal_](https://waffle.io/ros2/ros2?milestone=crystal)
  - The high level features / tasks being worked on for Crystal are described in [_https://github.com/ros2/ros2/issues/529_](https://github.com/ros2/ros2/issues/529) and then each item has a more detailed reference linked from there

- [discussion] How best to support ROS 1-\>2 transition?
  - Idea: facilitate ROS 1-\>2 transition by supporting release of ROS 1 N-turtle (Noetic) as LTS in May 2020 targeting Ubuntu 20.04, with public intent to make it the last ROS 1 release driven by OSRF
    - Extends ROS 1 support by 2 years until 2025
    - Requires Python 2-\>3 transition for packages released into Noetic
    - Allows longer period of overlap between ROS 1 & 2, in particular to support bridging
    - Avoids supporting multiple Ubuntu LTS distros for a single ROS (1 or 2) distro

  - Idea: No ROS-1 Noetic unless community takes this on themselves; We should take the stand that all work goes to ROS2 particularly with the LTS expiration of M
  - @gerkey and @dirk-thomas will consider all feedback and develop an official position of Open Robotics

- With release coming we might want to have multiple meetings before the release.
  - @gerkey to coordinate offline.