ROS TSC Meeting Notes February 21st, 2019 ========================================= - Attendees: - Dirk, Tully, Brian (Open Robotics) - Peter (Intel) - Karsten (Bosch) - Victor (Acutronic) - Jaime (eProsima) - Allison (TRI) - Dejan (Apex) - Rutvik (Amazon) - Seonman (LGE) - Matt D & Jon Smereka (TARDEC) - **\[10 min\] \[Brian\] New member introductions:** - \[Victor\] Acutronic - 2 minute company overview - \[Jaime\] eProsima - 2 minute company overview - **\[2 min\] \[Brian\] ROS trademark status update** - Application is mostly prepared, with a few remaining questions. Draft descriptions of goods and services is ready. - We may need more details on ROS logo usage in some classes, including first dates. - **\[2 min\] \[Dirk\] DCO bot update** - Some limitations when using the web UI to edit \[e.g. [*\#102*](https://github.com/probot/dco/issues/102)\] - Want to add more information to the repos CONTRIBUTING.md files before enabling globally - Amazon has successfully used it. - **\[5 min\] \[Brian\] Elevator pitch** - Why ROS 2? Draft shared by Brian, with summary bullets being: - Designed for production - Multi-platform - No vendor lock-in - Built on open standards - Permissive open source license - Global community - Suggestions to be added / integrated: - Tools, libraries, capabilities - Ecosystem - Industry grade vs. production, with respect to quality - Platform implies hardware (e.g., specific SBCs, BSPs) in automotive - Highlight companies support (e.g., via TSC) - Cross-domain platforms (not just ground), planes, quads, orbiting satellites, subterranean robots - Accelerating time to market, should be faster than proprietary solutions - Brian to circulate updated draft among TSC. - **\[5 min\] \[Dirk\] Dashing update:** - Feature ticket: [*https://github.com/ros2/ros2/issues/607*](https://github.com/ros2/ros2/issues/607) - Please add your commitments here! - Update comments in the thread as new information becomes available. - Timeline: [*https://index.ros.org/doc/ros2/Releases/Release-Dashing-Diademata/*](https://index.ros.org/doc/ros2/Releases/Release-Dashing-Diademata/) - WG updates - **\[5 min\] \[Peter (in lieu of Matt H.)\] Navigation** - Q: Replacing custom actions with standard actions planned? - Q: Replacing custom dyn reconf with standard parameters (once they support ranges) planned? - Matt on vacation -- look for offline update - **\[5 min\] \[Rutvik\] Security** - Primary work stream was for threat model, picked up again, working on first draft of document - Working on reference architecture based on TurtleBot - **\[5 min\] \[Dejan\] Real-time and safety** - Real-time status and goals tracked at [*https://gitlab.com/AutowareAuto/AutowareAuto/issues/65*](https://gitlab.com/AutowareAuto/AutowareAuto/issues/65) - Q: What is latency target? - Focused on example automotive use case - Q: Behavior can be very different on hardware platforms. Theres not a lot of testing on specific hardware. - Building on prior work by OSADL (empirical demonstration of latencies in RT-PREEMPT-patched kernel on specific hardware) - Safety WG will be picked up by Geoff Biggs, expect a Discourse post to start this effort. - **\[5 min\] \[Karsten\] Embedded** - [*https://discourse.ros.org/t/ros2-embedded-sig-meeting-2/7243*](https://discourse.ros.org/t/ros2-embedded-sig-meeting-2/7243) - Call for participation within the TSC to see if members are interested in embedded ROS2. - **\[5 min\] \[Dejan\] ROS 2 integration test framework** - [*https://github.com/ApexAI/apex\_rostest*](https://github.com/ApexAI/apex_rostest) - Integrating with new generation of launch - **\[5 min\] \[Victor\] From Matt H.: Acutronic and PickNik announced a partnership on Discourse, beginning work on MoveIt! 2.0 on ROS2.** - Q: Can they give us a brief overview of their plans and schedule? - Q: Will it be done in time for Dashing release? - Yes, its targeted for Dashing release - Its on the Dashing ticket. - Q: Are there areas they are seeking help? - [*https://github.com/ros-planning/moveit2*](https://github.com/ros-planning/moveit2) - [*https://github.com/AcutronicRobotics/moveit2/\#milestones*](https://github.com/AcutronicRobotics/moveit2/#milestones) for latest updates - Help is very welcome, works going on in the open. - Q: Does this include porting ROS control? - Targeting minimal viable option. Might not be fully ported. There may be more use cases for more of ros\_control that would be needed, but collaborators to fill that out would be appreciated. - Q: Does this include a refactor to take advantage of new features or a direct port? - Trying to take long run, leaving it up to Daves judgement, to still meet the deadline. - Would like to hear about more use cases. - **\[5 min\] \[Karsten\] diagnostics pull request status** - [*https://github.com/ros/diagnostics/pull/94*](https://github.com/ros/diagnostics/pull/94) - We were wondering how we can help pushing this PR in a review-able state. Bosch is willing to help but we want to double check with Persistent / Amazon first. - Amazon no longer actively working on this, would be willing to collaborate. - Bosch will plan to comment on the existing PR and make a set of new smaller PRs to replace them - **\[10 min\] \[Brian\] Need for regular dev call and/or new chat system?** - Discuss recent threads from Discourse: - [*https://discourse.ros.org/t/an-instantaneous-chat-platform-for-the-ros-community/7794*](https://discourse.ros.org/t/an-instantaneous-chat-platform-for-the-ros-community/7794) - [*https://discourse.ros.org/t/design-process-of-ros-2/7782*](https://discourse.ros.org/t/design-process-of-ros-2/7782) - Dejan: See two challenges. When actions were designed there wasnt a concrete use case. Their use case has a specific corner that wasnt in the generic design. Github is good and open/visible. Slack is horrible, only good if you need an answer in 5 minutes. Everything should have a good design doc. Adding more tooling isnt solving the problem, you need to know what you want to do. - Karsten: Seconded new system will just cause more notification overloads. Highlight Deannas [*ROSCon talk*](https://vimeo.com/292699328), proposals, designs, etc. - Brian: Previous regular dev call. Worked well, but had a problem of it really just another way for people to make feature requests. Maybe new scope to say its only for information sharing. - Rutvik: Maybe an office hours model. Find a way to spread design feedback burden. Amazon would be interested in staffing an office hours. - Dirk: Effective deep discussions are hard with high latency written communication channels. Might make sense to have specific calls for focused topics. - Allison: Regular scheduled is easier for people to keep up with and find. Cartographer open house seems to work well. Mostly advice not bug fixing/reporting. - Dejan: Other projects have community managers who scan through tickets for unsolved issues, and ping people. Sometimes start discussions about whats the slowdown. - Brian: Yeah we are distributing that role among our team. - Rutvik: +1 for good job from Open Robotics, but see bandwidth limitations - Peter: A developer conference, more working groups and discussions not as much of a presentation out like ROSCon. - **\[10 min\] \[Brian\] New TSC applicant** - Follow up questions, please email Brian directly. Well call for an asynchronous vote in the next week or two. --- [Visit Topic](https://discourse.ros.org/t/ros-tsc-meeting-notes-2019-02-21/8077/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. 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