[ros-users] [Discourse.ros.org] [General] ROS 2 TSC Minutes October 17th, 2018

[Tully Foote]

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 Apexs performance testing on the buildfarm

    -   secure services: [*https://discourse.ros.org/t/ros2-security-working-group-online-meeting/6393/17*](https://discourse.ros.org/t/ros2-security-working-group-online-meeting/6393/17)

    -   secure key management: [*https://discourse.ros.org/t/ros2-security-tools-for-development-and-production/6487*](https://discourse.ros.org/t/ros2-security-tools-for-development-and-production/6487)

    -   logging: [*https://discourse.ros.org/t/ros2-logging/6469*](https://discourse.ros.org/t/ros2-logging/6469)

    -   rqt (via PickNik): [*https://discourse.ros.org/t/rqt-in-ros2/6428*](https://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: [*https://discourse.ros.org/t/ros1-to-ros2-migration-tools/6505*](https://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 [*https://discourse.ros.org/t/ros2-navigation-wg-next-thursday-10-18-18-10am-pacific-gmt-7-00/6443/7*](https://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 were 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 [*https://discourse.ros.org/t/introducing-ros1-on-windows/6210*](https://discourse.ros.org/t/introducing-ros1-on-windows/6210) and [*Moveit*](https://discourse.ros.org/t/moveit-now-enabled-for-ros1-on-windows/6509)

    -   TB3 on ROS 2 [*https://discourse.ros.org/t/tb3-introducing-ros2-tutorials/5959*](https://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 [*https://discourse.ros.org/t/ros2arduino-discussion-for-development-ros2-library-for-arduino/6498*](https://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.











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