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add more ideas to the roadmap #475

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Dec 17, 2019
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add more ideas to the roadmap #475

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9a8d388
add more ideas to the roadmap
dirk-thomas Dec 16, 2019
15cbe3e
remove item already implemented
dirk-thomas Dec 17, 2019
1b61676
Update source/Roadmap.rst
dirk-thomas Dec 17, 2019
d991401
add url based on feedback
dirk-thomas Dec 17, 2019
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62 changes: 57 additions & 5 deletions source/Roadmap.rst
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Expand Up @@ -26,18 +26,22 @@ Design / Concept

* Leverage new features like grouping constants into enums
* Extend usage to ``.idl`` files with just constants and/or declare parameters with ranges
* Revisit constraints of IDL interface naming, see `ros2/design#220 <https://github.com/ros2/design/pull/220>`_

* Progress on migration plan
* Reconsider 1-to-1 mapping of ROS nodes to DDS participants
* Uniqueness of node names
* Reconsider 1-to-1 mapping of ROS nodes to DDS participants, see `ros2/design#250 <https://github.com/ros2/design/pull/250>`_
* Uniqueness of node names, see `ros2/design#187 <https://github.com/ros2/design/issues/187>`_
* Specific "API" of a node in terms of topics / services / etc in a descriptive format, see `ros2/design#266 <https://github.com/ros2/design/pull/266>`_

Infrastructure and tools
~~~~~~~~~~~~~~~~~~~~~~~~

* Building

* Consolidate build.ros2.org and ci.ros2.org
* Provision macOS and Windows machines
* Windows and Mac OS packages
* Support profiles in ``colcon``

* Documentation

Expand All @@ -59,18 +63,55 @@ The trailing stars indicate the rough effort: 1 star for small, 2 stars for medi
* Logging improvements [\* / \*\*]

* Configuration specified in a file
* C++ stream operators
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* Per-logger configuration (enabling e.g. ``rqt_logger_level``)

* Time related

* Support rate and sleep based on clock

* Parameters

* enforce type

* Additional Graph API features [\*\* / \*\*\*]

* Introspect QoS setting for all (especially remote) topics
* a la ROS 1 Master API: http://wiki.ros.org/ROS/Master_API
* Event-based notification
* Requires knowledge of the rmw interface which needs to be extended

* Executor

* Performance improvements (mostly around the waitset)
* Deterministic ordering (fair scheduling)
* Work with callback groups
* Decouple waitables

* Message generation

* Catch-up message generation for languages not support out-of-the-box
* Mangle field names in message to avoid language specific keywords
* Improve generator performance by running them in the same Python interpreter

* Launch

* Support use case of using ``xacro`` to perform substitutions before passing the result containing parameters
* Use pytest for launch testing
* Support for launching multi-node executables (i.e. manual composition)
* Extend launch XML/YAML support: events and event handlers, tag namespaces and aliasing

* Rosbag

* Support recording services (and actions)

* ros1_bridge

* Support bridging actions

* RMW configuration

* Unified standard way of configuring the middleware

* Remapping [\*\* / \*\*\*]

* Dynamic remapping and aliasing through a Service interface
Expand All @@ -84,7 +125,6 @@ The trailing stars indicate the rough effort: 1 star for small, 2 stars for medi

* With FastRTPS
* 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

Expand All @@ -96,6 +136,7 @@ The trailing stars indicate the rough effort: 1 star for small, 2 stars for medi
* Implement C client library ``rclc`` [\*\*]
* Support more DDS / RTPS implementations:

* Connext 6, see `ros2/rmw_connext#375 <https://github.com/ros2/rmw_connext/issues/375>`_
* Connext dynamic [\*]
* RTI's micro implementation [\*]

Expand Down Expand Up @@ -133,7 +174,18 @@ Reducing Technical Debt

* Fix flaky tests.
* Ability to run (all) unit tests with tools e.g. valgrind
* API review
* API review, specifically user facing API in rclcpp and rclpy
* Refactor the rclcpp API into separate packages focused on a single aspect, rclcpp should afterward still provide the combined user facing API
* Revisit message allocators, consider using std::polymorphic_allocator to address problems

* Modernization

* Support/use exporting CMake targets (rather than using CMake variables like ``*_INCLUDE_DIRS``, ``*_LIBRARIES``)
* Use C++17 filesystem features rather than custom code
* Use pybind11 for rclpy
* Move to f-strings in Python code
* Use setup.cfg files for Python packages

* Synchronize / reconcile design docs with the implementation.

* Pre-release retrospective review (APIs, docs, etc.)
Expand Down