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
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- 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.
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- **\[5 min\] \[Dirk\] 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.
---
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