resolve conflict

Signed-off-by: Mabel Zhang <[email protected]>

Author: mabelzhang

source/Contributing/Migration-Guide-Python.rst

@@ -13,6 +13,25 @@ Node Initialization
    # rospy.init_node('asdf')
    rclpy.init(args=sys.argv)
    node = rclpy.create_node('asdf')
+   # rospy.loginfo('Created node')
+   node.get_logger().info('Created node')
+
+
+ROS Parameters
+--------------------
+
+.. code-block:: python
+
+   # port = rospy.get_param('port', '/dev/ttyUSB0')
+   # assert isinstance(port, str), 'port parameter must be a str'
+   port = node.declare_parameter('port', '/dev/ttyUSB0').value
+   assert isinstance(port, str), 'port parameter must be a str'
+   # buadrate = rospy.get_param('baudrate', 115200)
+   # assert isinstance(port, int), 'port parameter must be an integer'
+   baudrate = node.declare_parameter('baudrate', 115200).value
+   assert isinstance(port, int), 'port parameter must be an integer'
+   # rospy.logwarn('port: ' + port)
+   node.get_logger().warn('port: ' + port)
 
 
 Creating a Publisher

source/Feature-Ideas.rst

@@ -0,0 +1,186 @@
+.. _FeatureIdeas:
+
+Feature Ideas
+=============
+
+.. contents:: Table of Contents
+   :depth: 2
+   :local:
+
+The following are feature ideas in no specific order.
+This list contains features that we think are important and can make for good contributions to ROS 2.
+:ref:`Please get in touch with us <Help>` before digging to a new feature.
+We can offer guidance, and connect you with other developers.
+
+Design / Concept
+----------------
+
+* IDL format
+
+  * 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>`_
+
+* Create migration plan for ROS 1 -> ROS 2 transition
+* 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>`_
+* Configuring QoS at runtime, see `ros2/design#280 <https://github.com/ros2/design/issues/280>`_
+
+Infrastructure and tools
+------------------------
+
+* Building
+
+  * Consolidate build.ros2.org and ci.ros2.org
+  * Provision macOS
+  * Windows and Mac OS packages
+  * Support profiles in ``colcon``
+
+* Documentation
+
+  * Improve documentation platform
+  * Support for ``doc`` jobs on the `ROS 2 buildfarm <https://build.ros2.org>`__
+  * 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)
+
+New features
+------------
+
+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
+  * 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: https://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 supported 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
+
+* Type masquerading [\*\*\*]
+
+  * a la ROS 1's message traits: https://wiki.ros.org/roscpp/Overview/MessagesSerializationAndAdaptingTypes
+  * Requires knowledge of the typesupport system
+
+* Expand on real-time safety [\*\*\*]
+
+  * For services, clients, and parameters
+  * 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 ``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 [\*]
+
+* security improvements:
+
+  * 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. [\*\*\*]
+
+Port of existing ROS 1 functionality
+------------------------------------
+
+* Perception metapackage
+
+  * Perception PCL
+
+* MoveIt
+
+  * MoveIt Maintainers are tracking: https://discourse.ros.org/t/moveit-maintainer-meeting-recap-july-25th-2018/5504
+
+* RQt
+
+  * convert more plugins [\* each when dependencies are available]
+
+Reducing Technical Debt
+-----------------------
+
+* Extend testing and resolve bugs in the current code base
+
+  * Waitset inconsistency
+  * Multi-threading problems with components
+
+* Fix flaky tests.
+* Ability to run (all) unit tests with tools e.g. valgrind
+* API review, specifically user-facing APIs 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.)
+
+* Address / classify pending tickets
+* Address TODOs in code / docs

source/Governance.rst

@@ -147,6 +147,14 @@ As described in its :download:`charter <Governance/ros2-tsc-charter.pdf>`, the T
 
 The current WGs are (6 as of 2019-09-04):
 
+* Control
+
+ * Lead(s): Bence Magyar, Karsten Knese
+ * Resources:
+
+  * Meeting invite group `[email protected] <https://groups.google.com/forum/#!forum/ros-control-working-group-invites>`_
+  * Discourse tag: `wg-ros2-control <https://discourse.ros.org/tags/wg-ros2-control>`_
+
 * Edge AI
 
  * Lead(s): Joe Speed

source/Installation/Dashing/Linux-Development-Setup.rst

@@ -24,17 +24,8 @@ System setup
 
 Set locale
 ^^^^^^^^^^
-Make sure to set a locale that supports UTF-8.
-If you are in a minimal environment such as a Docker container, the locale may be set to something minimal like POSIX.
 
-The following is an example for setting locale.
-However, it should be fine if you're using a different UTF-8 supported locale.
-
-.. code-block:: bash
-
-   sudo locale-gen en_US en_US.UTF-8
-   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-   export LANG=en_US.UTF-8
+.. include:: ../_Linux-Set-Locale.rst
 
 Add the ROS 2 apt repository
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^

source/Installation/Dashing/Linux-Install-Debians.rst

@@ -17,18 +17,10 @@ Resources
 * `Repositories <http://repo.ros2.org>`__
 
 
-Setup Locale
-------------
-Make sure you have a locale which supports ``UTF-8``.
-If you are in a minimal environment, such as a docker container, the locale may be something minimal like POSIX.
-We test with the following settings.
-It should be fine if you're using a different UTF-8 supported locale.
+Set locale
+----------
 
-.. code-block:: bash
-
-   sudo locale-gen en_US en_US.UTF-8
-   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-   export LANG=en_US.UTF-8
+.. include:: ../_Linux-Set-Locale.rst
 
 Setup Sources
 -------------

source/Installation/Dashing/Windows-Install-Binary.rst

@@ -229,3 +229,50 @@ Uninstall
    .. code-block:: bash
 
     rmdir /s /q \ros2_dashing
+
+(Alternative) ROS 2 Build Installation from aka.ms/ros
+--------------------------------------------------------
+
+https://aka.ms/ros project hosts ROS 2 builds against the release snapshots.
+This section explains how to install ROS 2 from this channel.
+
+Install ROS 2 builds
+^^^^^^^^^^^^^^^^^^^^
+
+In an administrative command prompt, run the following commands.
+
+.. code-block:: bash
+
+   > mkdir c:\opt\chocolatey
+   > set PYTHONNOUSERSITE=1
+   > set ChocolateyInstall=c:\opt\chocolatey
+   > choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
+   > choco upgrade ros-dashing-desktop -y --execution-timeout=0
+
+Environment setup
+^^^^^^^^^^^^^^^^^^
+
+Start an administrative command prompt and source the ROS 2 setup file to set up the workspace:
+
+.. code-block:: bash
+
+   > call C:\opt\ros\dashing\x64\local_setup.bat
+
+Stay up-to-date
+^^^^^^^^^^^^^^^
+
+To keep up-to-date with the latest builds, run:
+
+.. code-block:: bash
+
+   > set ChocolateyInstall=c:\opt\chocolatey
+   > choco upgrade all -y --execution-timeout=0
+
+Uninstall
+^^^^^^^^^
+
+If you want to completely remove the environment downloaded above, run this command:
+
+.. code-block:: bash
+
+   > rmdir /s /q C:\opt\

source/Installation/Eloquent/Linux-Development-Setup.rst

@@ -29,17 +29,8 @@ System setup
 
 Set locale
 ^^^^^^^^^^
-Make sure to set a locale that supports UTF-8.
-If you are in a minimal environment such as a Docker container, the locale may be set to something minimal like POSIX.
 
-The following is an example for setting locale.
-However, it should be fine if you're using a different UTF-8 supported locale.
-
-.. code-block:: bash
-
-   sudo locale-gen en_US en_US.UTF-8
-   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-   export LANG=en_US.UTF-8
+.. include:: ../_Linux-Set-Locale.rst
 
 Add the ROS 2 apt repository
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^

source/Installation/Eloquent/Linux-Install-Debians.rst

@@ -22,18 +22,10 @@ Resources
 * `Repositories <http://repo.ros2.org>`__
 
 
-Setup Locale
-------------
-Make sure you have a locale which supports ``UTF-8``.
-If you are in a minimal environment, such as a docker container, the locale may be something minimal like POSIX.
-We test with the following settings.
-It should be fine if you're using a different UTF-8 supported locale.
+Set locale
+----------
 
-.. code-block:: bash
-
-   sudo locale-gen en_US en_US.UTF-8
-   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-   export LANG=en_US.UTF-8
+.. include:: ../_Linux-Set-Locale.rst
 
 Setup Sources
 -------------

source/Installation/Foxy/Linux-Development-Setup.rst

@@ -24,17 +24,8 @@ System setup
 
 Set locale
 ^^^^^^^^^^
-Make sure to set a locale that supports UTF-8.
-If you are in a minimal environment such as a Docker container, the locale may be set to something minimal like POSIX.
 
-The following is an example for setting locale.
-However, it should be fine if you're using a different UTF-8 supported locale.
-
-.. code-block:: bash
-
-   sudo locale-gen en_US en_US.UTF-8
-   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-   export LANG=en_US.UTF-8
+.. include:: ../_Linux-Set-Locale.rst
 
 Add the ROS 2 apt repository
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^