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.

Planning for the next release is starting on #607.

• Parameters in rclpy Support for parameters rclpy#202
• Time Functionality around time #530
  • support for simtime, clock / time in Python, rates / timers using specific clocks, using same clock in tf2
• Image transport Port image transport #531
• Launch Features for ROS 2 Crystal launch#101
  • support life cycle
  • support components
  • nesting
  • launch in containers
  • pass parameters
• Rosbag rosbag #533
  • record / playback binary messages, C++ API, Python CLI
  • read ROS 1 bags
• Gazebo ROS pkgs gazebo_ros_pkgs #532
  • port the most widely used plugins
• Doc v1 - ROS 2 package index ROS 2 package index #534
  • rosindex-like page to browse/search metadata of ROS 2 packages, support generating docs from e.g. .rst files
• [ ] Web visualization improvements Port robot_web_tools to adapt to ROS 2.0 RobotWebTools/rosbridge_suite#345 (comment)
• ROS Buildfarm improvements for ROS 2 CI/CD ROS Buildfarm improvements #572
  • keep non-latest .deb files
  • "incremental" CI job building of fat archive, CI jobs testing branches across repos
  • support nvidia-docker for testing with e.g. Gazebo
• Doc v2 Docs v2 #577
  • rosindex-like page to browse/search metadata of ROS 2 packages, support generating docs from e.g. .rst files
• IDL [WIP] restructure rosidl to work with IDL files rosidl#298
  • using IDL 4.2 to specify ROS interfaces (msgs, srvs, actions), leverage new features like grouping and various annotations (comments, units)
  • not ready for the Crystal release, since the changes are breakin the interface of message generators this will only land in D-turtle:
  • current root ticket: change generators to IDL-based pipeline, change char type, separate action types rosidl#334
• [ ] Performance testing improvements ROS2 Performance Testing #582
• Actions Actions #583
  • code generation, server / client (C++) API
  • TODO: Python API Action implementation rclpy#257
• Improve MISRA compliance Improve MISRA Compliance #591
• audit memory management Memory management improvements #590
• [ ] Expose enhanced QoS settings Adding deadline, liveliness and other QoS to ROS 2 rclcpp#572 (liveliness and deadline)
• CI / test framework improvements https://gitlab.com/AutowareAuto/AutowareAuto/issues/19
  • support C/C++ code coverage and fuzz testing
• Logging (warnings, errors, etc.) https://discourse.ros.org/t/ros2-logging/6469
  • Configuration for logging system (dynamic, file-based)
  • Log to file
  • Log to rosout topic
  • C++ stream operators
• rqt https://discourse.ros.org/t/rqt-in-ros2/6428
  • Get the framework ported
  • Get some of the plugins ported
• Secure ROS services https://discourse.ros.org/t/ros2-security-working-group-online-meeting/6393/17
  • Design: Secure ROS services
  • Design: Secure parameters service
  • Changes to security yaml configuration
  • RMW Updates (FastRTPS, Connext, OpenSplice)
  • Secure key storage https://discourse.ros.org/t/ros2-security-tools-for-development-and-production/6487
  • Nag script to check key storage and recommend setting
• ROS 1 to 2 migration tools https://github.com/awslabs/ros2-migration-tools
• Navigation
• https://github.com/ros-planning/navigation2
• https://discourse.ros.org/t/ros2-navigation-wg-next-thursday-10-18-18-10am-pacific-gmt-7-00/6443
• rclpy performance improvements (e.g., Generate imports for assert only in debug mode rosidl#277)
• Memory handling improvements in rclpy (e.g., Fixes memory leaks for nested fields rclpy#203) and rclnodejs (Memory leak when deserializing string members RobotWebTools/rclnodejs#381)
• [ ] Initial OpenEmbedded support for ROS 2 (https://github.com/lgsvl/meta-ros2)
• Support TurtleBot3 in Gazebo https://discourse.ros.org/t/tb3-introducing-ros2-tutorials/5959
• TB3 on ROS2 in Gazebo
• ros2arduino https://discourse.ros.org/t/ros2arduino-discussion-for-development-ros2-library-for-arduino/6498
  • using RTPS supporting XRCE such as microRTPS; note that this approach uses a different wire protocol from ROS 2 atop a full DDS/RTPS system
  • supports TurtleBot3's embedded system (OpenCR, it supports Arduino IDE)
  • supports Arduino MEGA, ZERO and other compatible microcontrollers
  • make message header and API generator
  • provide tutorials (e.g., Arduino IDE Setup, custom message, LED/Servo/Sensors control, TF, simple robot)
• Cross-compilation improvements
  • Provide a toolchain file and instructions
  • Example build in Docker
  • Including Python packages