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ROS 2 Dashing Diademata #607

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dirk-thomas opened this Issue Nov 15, 2018 · 26 comments

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dirk-thomas commented Nov 15, 2018

This meta ticket enumerates the tasks which are being worked on for the ROS 2 release scheduled for June 2019. The list will be updated as the tasks move forward.

Anyone working on features to be released into Dashing please feel free to comment on the ticket enumerating the items and checking them off as you make progress. That way readers have a more complete picture what to expect to be in the upcoming release.

Candidates for inclusion here include items pushed from the last release, some of which are struck through on #529.

  • Migrate to IDL to specify ROS interfaces (ros2/rosidl#346)
    • Various follow up tasks
  • Improve intraprocess communication behavior (#649)
  • roslaunch
  • Parameters
    • Read-only (and general refresh of declare parameters) (ros2/rclcpp#495)
    • Declaration of a value range
    • rqt-based UI
  • Improve memory management (#590)
  • Improve performance and reliability
  • Port to ROS 2
    • rosbridge_suite
  • CI for simulation-based testing of navigation
  • Buildfarm infrastructure
    • Roll out incremental CI jobs
    • RPM packages
  • Actions

@dirk-thomas dirk-thomas added this to the d-turtle milestone Nov 15, 2018

@dirk-thomas dirk-thomas referenced this issue Nov 20, 2018

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ROS 2 Crystal Clemmys #529

21 of 34 tasks complete

@nuclearsandwich nuclearsandwich changed the title ROS 2 D-turtle ROS 2 Dashing Diademata Dec 15, 2018

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vmayoral commented Feb 4, 2019

Hello @dirk-thomas,

Here's a draft of what to expect from @AcutronicRobotics's for Dashing:

  • Real-Time

  • Information model (based on HRIM)

    • Abstract sensors_msgs interfaces
    • Port geometry_msgs interfaces
    • Port trajectory_msgs interfaces
    • Port control_msgs interfaces
    • Port moveit interfaces
    • Basic hardware models (to be updated with more details)
    • basic tooling for usage
    • integration in the ROS 2 build system
    • quality assurance implementation (nodes that validate interoperability)
    • interoperability demonstrations
  • Motion planning

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gavanderhoorn commented Feb 4, 2019

@vmayoral wrote:

  • Convert moveit packages to ROS 2.0

Hi @vmayoral: is this coordinated / synced with @ros-planning/moveit-maintainers (@davetcoleman, @v4hn, @rhaschke et al.) or is this a stand-alone effort?

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dirk-thomas commented Feb 4, 2019

  • Port geometry_msgs interfaces
  • Port trajectory_msgs interfaces
  • Port control_msgs interfaces

All of these packages are already available as released ROS 2 packages.

  • Abstract sensors_msgs interfaces

Can you clarify that "abstract" means in this context? Btw sensor_msgs (without a trailing s) is also an already released ROS 2 package.

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vmayoral commented Feb 4, 2019

@gavanderhoorn, for now it's a standalone effort.

We're trying to coordinate with @davetcoleman and his team. Fund them to ensure we're supported and aligned with what the community expects.

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vmayoral commented Feb 4, 2019

All of these packages are already available as released ROS 2 packages.

They are all released indeed. We're just abstracting them to XML and in a framework-agnostic manner to facilitate interoperability (even across different robotic frameworks) by following a Model-driven engineering (MDE) methodology.

This aligns with the HRIM project and the objective is to have a common information model (ROS 2 focused mainly but we're also looking at OPC UA models and try to find "common ground" while respecting ROS 2 interfaces). Eventually, we're hoping that HRIM would allow to "generate" the communication artifacts for ROS 2 interactions by reading the dependencies across packages in a ROS 2 workspace.

Some preliminar documentation is available at https://acutronicrobotics.com/docs/technology/hrim. This is by no means finished, it's an ongoing effort.

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vmayoral commented Feb 12, 2019

An update from our side:

After having received community input regarding the information model (mostly related to the HRIM project), we've decided to take a step back in our plans and focus solely on hardware-related interfaces. We were being overly ambitious with HRIM (hoping it would govern all communications across ROS 2 nodes interacting and facilitating interoperability with other frameworks, e.g. OPC UA).

We've decided to stick to purely hardware-related interfaces (which was the origin of the project) for what concerns HRIM.

I've updated our plans above accordingly. More updates may happen based on the input received and our progress.

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davetcoleman commented Feb 20, 2019

@dirk-thomas these are the efforts PickNik is working on in collaboration with Acutronics:

  • Straight port of MoveIt to ROS 2.0

The sub-milestones are located at https://github.com/ros-planning/moveit2

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dirk-thomas commented Feb 20, 2019

@davetcoleman This ticket represents the roadmap for Dashing. Do you want to edit you comment to change the port of MoveIt! into an unchecked bullet and remove it from Victors comment above?

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dejanpan commented Feb 21, 2019

@dirk-thomas regarding this point: "Launch improvements for launch-based testing (ros2/launch#161)":

  1. @wjwwood @hidmic @pbaughman decided that ros2/launch#161 will get consolidated with the https://github.com/ApexAI/apex_rostest framework. The description of that project is available here: https://github.com/ApexAI/apex_rostest/blob/99e5de6e90942f28ec9ece7292c546593712d774/README.md.
  2. This would be Apex.AI feature contribution for ROS 2 Dashing Diademata. Apex.AI will maintain it and keep releasing it.
  3. After these PRs will be merged https://github.com/ApexAI/apex_rostest/pulls, the framework will be largely feature complete. The only thing left TBD will be to shift the things around.
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dejanpan commented Feb 21, 2019

@vmayoral could you briefly comment which RTOSs you plan to support in #607 (comment) "ROS 2 Real-Time Quality Assurance Farm"?

@anup-pem FYI

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dejanpan commented Feb 21, 2019

@dirk-thomas another thing: I would like that this a test implemented with this tool: https://github.com/ApexAI/performance_test would run nightly or weekly or monthly on OSRF farm. The tool is complete, Apex can help integrating it.

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rutvih commented Feb 21, 2019

@dejanpan +1 on running these tests nightly or weekly on OSRF build farm. Our team has been trying to enhance tool created by Apex and we are planning to contribute our changes back to that repo as well.

@dirk-thomas These are the changes Amazon is working on.

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JaimeMartin commented Feb 22, 2019

@rutvih here at eprosima we are working already on lifespan and deadline actively to support your efforts in ROS2 layer. We need to sync to understand your plan to expose those QoS in ROS2, and align our design.

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rutvih commented Feb 22, 2019

@JaimeMartin That's great to hear! We have been looking in to work needed on FastRTPS and would be great to see if we can collaborate on this going forward. My team has created eProsima/Fast-RTPS#429 to follow up.

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mkhansen-intel commented Feb 25, 2019

@dirk-thomas - Regarding this line item:

  • CI for simulation-based testing of navigation

Is there an issue for that? We have some simulation testing running in our CI already, and may be able to help on this. Currently those tests aren't running in the build farm, but we could help enable them.

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vmayoral commented Feb 26, 2019

@vmayoral could you briefly comment which RTOSs you plan to support in #607 (comment) "ROS 2 Real-Time Quality Assurance Farm"?

@dejanpan we'll be using Linux with the PREEMPT_RT patches in a similar fashion to what OSADL has been doing. Probably re-using as much of their work as possible. As discussed, target is to have hardware benchmarks in a somewhat common platform supported across different devices. Let me know if you have further input.

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dirk-thomas commented Feb 26, 2019

CI for simulation-based testing of navigation
Is there an issue for that?

Not that I know of. The current work is focus on enabling GPU-based test on the CI infrastructure. Before anyone starts working on some navigation tests I will make sure they reach out to you / here.

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mkhansen-intel commented Feb 26, 2019

@dirk-thomas - thanks, sounds like a plan

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gbiggs commented Feb 27, 2019

@dejanpan we'll be using Linux with the PREEMPT_RT patches in a similar fashion to what OSADL has been doing. Probably re-using as much of their work as possible. As discussed, target is to have hardware benchmarks in a somewhat common platform supported across different devices. Let me know if you have further input.

What hardware platform(s) are you considering?

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thomas-moulard commented Feb 27, 2019

@rutvih Could you link those to #662 ?

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rutvih commented Feb 27, 2019

@rutvih Could you link those to #662 ?

done!

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vmayoral commented Feb 27, 2019

What hardware platform(s) are you considering?

@gbiggs we'll initially be focused on:

  • Intel i7 @ 3.70 GHz and
  • Xilinx Zynq 70x0 SoC @ 666 MHz

Ideally we should be able to open up the possibility of having interested parties to contribute with hardware to the QA farm so that it can get added to the results produced. No big promises beyond these two platforms for now but feel free to send input and we'll try our best.

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mkhansen-intel commented Mar 5, 2019

@dirk-thomas - regarding these items


Improve memory management
Improve performance and reliability


Are there open issues for these yet? We would like to potentially contribute to these also.

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bshin-lge commented Mar 5, 2019

Here is what we at LG Electronics are working on and will add for Dashing:

  • OpenEmbedded support: automatically generated Bitbake recipes of ROS2 index packages
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dirk-thomas commented Mar 8, 2019

regarding these items
Are there open issues for these yet?

Improve memory management

@mkhansen-intel Please see the updated description with a reference to another ticket.

Improve performance and reliability

There is no ticket tracking this effort yet since it hasn't been started yet.

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Karsten1987 commented Mar 18, 2019

Bosch has committed to migrate the diagnostic packages to ROS2. Meta ticket for tracking progress: boschresearch/ros2_diagnostics#1

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