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ROS 2 Crystal Clemmys #529

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dirk-thomas opened this Issue Jul 9, 2018 · 8 comments

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dirk-thomas commented Jul 9, 2018

This meta ticket enumerates the tasks which are being worked on for the ROS 2 release scheduled for December 2018. The list will be updated as the tasks move forward:

@dirk-thomas dirk-thomas added this to the crystal milestone Jul 9, 2018

@minggangw

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minggangw commented Jul 11, 2018

Combined with the bullets listed above and the roadmap from Wiki, I have some comments below:

Port robot_web_tools

We have already created two projects under RobotWebTools org which target for ROS 2.0

By saying port, do you mean to port the current rosbridge_suite and use rclpy to replace the one designed for ROS 1 as the backend,and still use the Python language or a complete new design?

The two module we implemented have the equal functionality (but JavaScript specific) compared with the current rosbridge_suite, so I think we could take advantage of them to finish this task and make some contributions. An aggressive idea that we can migrate to Node.js ecosystem by leveraging JavaScript.

Actions: code generation, server / client API

We have just finished this experimental feature based on rclnodejs client. Thanks for @chris-smith's support from RethinkRobotics, he extracted the actionlib module and we re-use this module to achieve it in ROS 2.0. I am wondering that are there any changes, like functions, interfaces and toolchain, compared with the one for ROS 1.0 package?

Performance testing

We opened an issue to discuss the benchmark design for the current ROS 2.0 clients(CPP/Python/Node.js, maybe more) about 3 months ago, actually we have had some initial result about it, please see here. Now we are focusing on the automated testing and generating result graphs of the benchmark.

Web visualization

By using the ros2-web-bridge, we did some simple test based on roslibjs and ros2djs to verify the compatibility. My team is concentrating on the web technologies, so I think we have more experience in this field and we can do something for it definitely. We are looking forward to the detailed plans.

Thanks!

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dirk-thomas commented Jul 11, 2018

Port robot_web_tools

The different approaches (port rosbridge_suite to use rclpy as well as your new package) will be considered. It is unlikely that we will come up with a completely new design.

Actions: code generation, server / client API

This item is referring to the task of parsing .action files, generate code based on these datatypes, and implementing server / client API for the languages support by the "core" of ROS 2 (C++, Python).

Performance testing

There have been posts about different approaches in the past (e.g. on Discourse) and before starting work on this item it will be evaluated what the exact requirements and goals are and if/how we leverage any of the existing approaches.

Web visualization

This item is a synonym for the "Port robot_web_tools" item on the roadmap.

@minggangw

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minggangw commented Jul 16, 2018

@dirk-thomas thanks for your explanation and clarification, I will catch up with the latest changes and be ready to participate.

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minggangw commented Jul 30, 2018

I opened an issue RobotWebTools/rosbridge_suite#345 on rosbridge_suite to track the Port robot_web_tools task. Please feel free to input your suggestions, thanks!

@yechun1

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yechun1 commented Oct 18, 2018

Check with ROS2 Roadmap, there listed image_pipeline as future plan.
We have started porting image_pipeline and plan to finish most of the functions before Crystal release, currently the depth_image_proc is ported and be ready for code review. Would you please consider to include image_pipeline on Crystal release?

We need help to create ros2 branch by project owner on ros-perception/image_pipeline so that we could submit PR and upstream the code. @dirk-thomas would you please help on this. If there is any comments about image_pipeline porting, please feel free to let us known, thanks.

image_pipeline port task:

@mjcarroll

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mjcarroll commented Oct 18, 2018

I can't speak to getting it in the Crystal release, I'll defer to @dirk-thomas on that, but here is a branch to PR against. @yechun1 https://github.com/ros-perception/image_pipeline/tree/ros2

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dirk-thomas commented Oct 29, 2018

Would you please consider to include image_pipeline on Crystal release?

This solely depends on the state of the ported packages by the time. Whenever you are ready (and we have created a crystal distribution in the rosdistro and your dependencies are available) please feel free to release the repository using bloom.

@adam-dunc

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adam-dunc commented Nov 9, 2018

@dirk-thomas @tfoote Happy Friday. According to https://discourse.ros.org/t/timeline-for-crystal/6676 we have only 1.5 weeks until the drop dead date for core features.

Is it possible to segment/organize the list above into features that:
must have pull requests merged by 11/21
features that must have pull requests merged by 12/4
features that can come after (not dependent on crystal)

Finally, is it possible to do a call to action on the feature owners to get them to update their ETA for pull request? My team being one of the ones that need to provide that update as well.

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