[ROS2 Porting] Meeting 2020/11/26

[mitsudome-r]

1. Go over previous meeting minutes
   • Investigate what would happen if we add gcc options and linters to a package -> @nnmm
   • From Josh: We use ament_lint_common which runs all of the linters listed here: https://github.com/ament/ament_lint/blob/master/ament_lint_common/package.xml
   • flake8 is giving an error. @nnmm will look deeper into it.
   • Fix CI in autoware_launcher repository
   • It was due to comments in https://github.com/tier4/autoware_launcher.iv.universe/blob/ros2/.github/workflows/build_and_test.yml
   • It is now fixed. All other authors of PRs should rebase to the newest ros2 branch and make sure they move the package from --packages-ignore to packages-up-to
2. Discuss about current blockers.
   • scenario_runner https://github.com/tier4/scenario_runner.iv.universe/pull/28
   • It’s now ready for review. @TakaHoribe will do the final review.
   • We have a issue regarding missing parameters to test launch file: https://github.com/tier4/scenario_runner.iv.universe/issues/30
   • Tier IV can do the test with their maps and scenario files.
   • @mitsudome-r will write the procedure in the issue thread with necessary files
   • Sensing_launch
   • @mitsudome-r needs to ask about Livox drivers in ros2.
   • It is using nodelets in a launch file.
   • There is a way to put components in a container in Python: https://github.com/tier4/Pilot.Auto/blob/518c2e1147cc07986f75147c16f41f542bd43453/sensing/preprocessor/pointcloud/pointcloud_preprocessor/launch/preprocessor.launch.py#L87
   • Investigate if we can create component container from XML.
   • If we cannot replace it with XML, port the nodelet section as a python script and call it from lidar.launch
   • planning_sim_launch port
   • @mitsudome-r will post how this package should be launched in ROS1 version in https://github.com/tier4/scenario_runner.iv.universe/issues/30

[mitsudome-r]

About Livox lidar driver:

Q1. It says in the repo, "The driver is currently only recommended to run under ubuntu18.04, the corresponding ROS2 version is dashing, and other versions of ROS2 (such as foxy) are not currently supported." Is there any plans to release for foxy?

A1. Currently, there is no plans to support Foxy. There are ROS2 release twice a year, which they think is too frequent to support all versions.

Q2. Are you aware of any difference in performance between the ROS1 version and ROS2 version? (e.g. less support of sensor models, latency...)

A2. No, it should be straight porting from ROS1 to ROS2.