Table of Contents
Please see the page of the upcoming distribution Dashing Diademata for more information what is planned to be part of that release.
Please see the Distributions page for the timeline of and information about future distributions.
For more information on the design of ROS 2 please see design.ros2.org.
The core code for ROS 2 is on the ros2 github organization.
The Discourse forum/mailing list for discussing ROS 2 design is ng-ros.
Questions should be asked on ROS answers, make sure to include at least the
ros2 tag and the rosdistro version you are running, e.g.
IDL format: using IDL 4.2 to specify ROS interfaces (msgs, srvs, actions)
Leverage new features like grouping constants into enums
Extend usage to
.idlfiles with just constants and/or declare parameters with ranges
Progress on migration plan
Reconsider 1-to-1 mapping of ROS nodes to DDS participants
Uniqueness of node names
optional XML or YAML frontend for Python-based launch
Support to generate “fat” packages / archives
Windows and Mac OS packages
Improve documentation platform
docjobs on the ROS 2 buildfarm
Consider consolidating with design.ros2.org
Provide three different kinds of content:
“demos” to show features and cover them with tests
“examples” to show a simple/minimalistic usage which might have multiple ways to do something
“tutorials” which contain more comments and anchors for the wiki (teaching one recommended way)
The trailing stars indicate the rough effort: 1 star for small, 2 stars for medium, 3 stars for large.
Logging improvements [* / **]
Configuration specified in a file
C++ stream operators
set individual parameters via command line arguments (instead of passing a yaml file)
Additional Graph API features [** / ***]
a la ROS 1 Master API: http://wiki.ros.org/ROS/Master_API
Requires knowledge of the rmw interface which needs to be extended
Remapping [** / ***]
Dynamic remapping and aliasing through a Service interface
Type masquerading [***]
a la ROS 1’s message traits: http://wiki.ros.org/roscpp/Overview/MessagesSerializationAndAdaptingTypes
Requires knowledge of the typesupport system
Expand on real-time safety [***]
For services, clients, and parameters
Support deterministic ordering of executables in Executor (fair scheduling)
Expose more quality of service parameters related to real-time performance
Real-time-safe intra-process messaging
Multi-robot supporting features and demos [***]
Undesired that all nodes across all robots share the same domain (and discover each other)
Design how to “partition” the system
Implement C client library
Support more DDS / RTPS implementations:
Connext dynamic [*]
RTI’s micro implementation [*]
Eclipse Cyclone DDS (former ADLINK OpenSplice) [*]
more granularity in security configuration (allow authentication only, authentication and encryption, etc) [*]
integrate DDS-Security logging plugin (unified way to aggregate security events and report them to the users through a ROS interface) [**]
key storage security (right now, keys are just stored in the filesystem) [**]
more user friendly interface (make it easier to specify security config). Maybe a Qt GUI? This GUI could also assist in distributing keys somehow. [***]
A way to say “please secure this running system” with some UI that would auto-generate keys and policies for everything that is currently running. [***]
If there are hardware-specific features for securing keys or accelerating encryption/signing messages, that could be interesting to add to DDS/RTPS implementations that don’t use it already. [***]
Moveit Maintainers are tracking: https://discourse.ros.org/t/moveit-maintainer-meeting-recap-july-25th-2018/5504
convert more plugins [* each when dependencies are available]
Extend testing and resolve bugs in the current code base
Multi-threading problems with components
Fix flaky tests.
Ability to run (all) unit tests with tools e.g. valgrind
Synchronize / reconcile design docs with the implementation.
Pre-release retrospective review (APIs, docs, etc.)
Address / classify pending tickets
Address TODOs in code / docs