[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS2 …

All, here were the notes captured from the first meeting (thanks to @mjeronimo):

    Michael Ferguson

  o    Comment: Task dispatch engine: make this a separate library? 

  o    Should implement continuous re-planning in the navigation node

  o    ROS2: compress these modules into same process?

         Warning: Environmental model across many processes could be performance issue

            Huge state machine graphs floating around

            Could we solve with local caching? 

    o    Questions

           Porting A* and DWA or re-implementing? - Mostly porting, with some refactoring

           Add some unit tests? Yes, we plan to have unit tests

           Working on a branch, review upon integration into master? Yes we will integrate into master, branch is for temporary / work in progress code

    Timeline?

    December 14th (Dirk mentioned Crystal release)

    Fully working system?

    Default platform? Turtlebot3

    David Lu

o    Sharing of resources

    One node for move base 

    Have to pass entire cost map

    Part of the reason to combine it was performance-related

    Overall trade-off between ability control things vs. ability to be modular

    Would we be better off (nav core) not having the cost map object not managed at the high level

    Planner tracking its own cost map

    What you lose is ability to call specific recoveries

o    3D version of DWA :)

    Adam Duncan (Amazon)

o    ROS2 design; fundamentally aren't achievable in ROS2?

o    Any core components missing on ROS2

o    Tf2 message filter

    Ray Cole (Amazon, lead engineer on internal team, ROS)

o    Performance: areas to try to test? Use cases, data flow. 

    Something to do early on

o    Introspection into what's going on?  Management console.

    Errors, invalid states

    Productized

    Tom Moore

o    No comments

    Wei Zhi Liu

o    No comments

    Dirk Thomas

o    Overhead between processes

    Could put upper cap on cross-language capability

    Could incur high run-time cost

    Could stay within same language, build into shared libraries

    Shivang Tripathi

o    No comments

    "Steve"

o    No comments

    "Doug"

o    No comments

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