Merge branch 'humble' into patch-1

Author: sxzxyq

source/The-ROS2-Project/Governance.rst

@@ -207,243 +207,122 @@ The following repositories are managed by the ROS PMC:
    :header-rows: 1
 
    * - Repository URL
-     - Committers
    * - https://github.com/ament/ament_cmake
-     - Not Yet Available
    * - https://github.com/ament/ament_index
-     - Not Yet Available
    * - https://github.com/ament/ament_lint
-     - Not Yet Available
    * - https://github.com/ament/ament_package
-     - Not Yet Available
    * - https://github.com/ament/google_benchmark_vendor
-     - Not Yet Available
    * - https://github.com/ament/googletest
-     - Not Yet Available
    * - https://github.com/ament/uncrustify_vendor
-     - Not Yet Available
    * - https://github.com/gazebo-release/gz_cmake_vendor
-     - Not Yet Available
    * - https://github.com/gazebo-release/gz_math_vendor
-     - Not Yet Available
    * - https://github.com/gazebo-release/gz_utils_vendor
-     - Not Yet Available
    * - https://github.com/osrf/osrf_pycommon
-     - Not Yet Available
    * - https://github.com/osrf/osrf_testing_tools_cpp
-     - Not Yet Available
    * - https://github.com/ros-infrastructure/rep
-     - Not Yet Available
    * - https://github.com/ros-infrastructure/rosdoc2
-     - Not Yet Available
    * - https://github.com/ros-perception/image_common
-     - Not Yet Available
    * - https://github.com/ros-perception/laser_geometry
-     - Not Yet Available
    * - https://github.com/ros-perception/point_cloud_transport
-     - Not Yet Available
    * - https://github.com/ros-perception/pointcloud_to_laserscan
-     - Not Yet Available
    * - https://github.com/ros-planning/navigation_msgs
-     - Not Yet Available
    * - https://github.com/ros-tooling/keyboard_handler
-     - Not Yet Available
    * - https://github.com/ros-tooling/libstatistics_collector
-     - Not Yet Available
    * - https://github.com/ros-visualization/interactive_markers
-     - Not Yet Available
    * - https://github.com/ros-visualization/python_qt_binding
-     - Not Yet Available
    * - https://github.com/ros-visualization/qt_gui_core
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_action
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_bag
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_console
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_graph
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_msg
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_plot
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_publisher
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_py_console
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_reconfigure
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_service_caller
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_shell
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_srv
-     - Not Yet Available
    * - https://github.com/ros-visualization/rqt_topic
-     - Not Yet Available
    * - https://github.com/ros-visualization/tango_icons_vendor
-     - Not Yet Available
    * - https://github.com/ros-visualization/visualization_tutorials
-     - Not Yet Available
    * - https://github.com/ros/angles
-     - Not Yet Available
    * - https://github.com/ros/class_loader
-     - Not Yet Available
    * - https://github.com/ros/console_bridge
-     - Not Yet Available
    * - https://github.com/ros/eigen_stl_containers
-     - Not Yet Available
    * - https://github.com/ros/geometry_tutorials
-     - Not Yet Available
    * - https://github.com/ros/kdl_parser
-     - Not Yet Available
    * - https://github.com/ros/pluginlib
-     - Not Yet Available
    * - https://github.com/ros/resource_retriever
-     - Not Yet Available
    * - https://github.com/ros/robot_state_publisher
-     - Not Yet Available
    * - https://github.com/ros/ros_environment
-     - Not Yet Available
    * - https://github.com/ros/ros_tutorials
-     - Not Yet Available
    * - https://github.com/ros/rosdistro
-     - Not Yet Available
    * - https://github.com/ros/urdf_parser_py
-     - Not Yet Available
    * - https://github.com/ros/urdfdom
-     - Not Yet Available
    * - https://github.com/ros/urdfdom_headers
-     - Not Yet Available
    * - https://github.com/ros2/ament_cmake_ros
-     - Not Yet Available
    * - https://github.com/ros2/common_interfaces
-     - Not Yet Available
    * - https://github.com/ros2/console_bridge_vendor
-     - Not Yet Available
    * - https://github.com/ros2/demos
-     - Not Yet Available
    * - https://github.com/ros2/design
-     - Not Yet Available
    * - https://github.com/ros2/eigen3_cmake_module
-     - Not Yet Available
    * - https://github.com/ros2/example_interfaces
-     - Not Yet Available
    * - https://github.com/ros2/examples
-     - Not Yet Available
    * - https://github.com/ros2/geometry2
-     - Not Yet Available
    * - https://github.com/ros2/launch
-     - Not Yet Available
    * - https://github.com/ros2/launch_ros
-     - Not Yet Available
    * - https://github.com/ros2/libyaml_vendor
-     - Not Yet Available
    * - https://github.com/ros2/message_filters
-     - Not Yet Available
    * - https://github.com/ros2/mimick_vendor
-     - Not Yet Available
    * - https://github.com/ros2/orocos_kdl_vendor
-     - Not Yet Available
    * - https://github.com/ros2/performance_test_fixture
-     - Not Yet Available
    * - https://github.com/ros2/pybind11_vendor
-     - Not Yet Available
-   * - https://github.com/ros2/python_cmake_module
-     - Not Yet Available
    * - https://github.com/ros2/rcl
-     - Not Yet Available
    * - https://github.com/ros2/rcl_interfaces
-     - Not Yet Available
    * - https://github.com/ros2/rcl_logging
-     - Not Yet Available
    * - https://github.com/ros2/rclcpp
-     - Not Yet Available
    * - https://github.com/ros2/rclpy
-     - Not Yet Available
    * - https://github.com/ros2/rcpputils
-     - Not Yet Available
    * - https://github.com/ros2/rcutils
-     - Not Yet Available
    * - https://github.com/ros2/realtime_support
-     - Not Yet Available
    * - https://github.com/ros2/rmw
-     - Not Yet Available
    * - https://github.com/ros2/rmw_connextdds
-     - Not Yet Available
    * - https://github.com/ros2/rmw_cyclonedds
-     - Not Yet Available
    * - https://github.com/ros2/rmw_dds_common
-     - Not Yet Available
    * - https://github.com/ros2/rmw_fastrtps
-     - Not Yet Available
    * - https://github.com/ros2/rmw_implementation
-     - Not Yet Available
    * - https://github.com/ros2/rmw_zenoh
-     - Not Yet Available
    * - https://github.com/ros2/ros_testing
-     - Not Yet Available
-   * - https://github.com/ros2/ros1_bridge
-     - Not Yet Available
    * - https://github.com/ros2/ros2
-     - Not Yet Available
    * - https://github.com/ros2/ros2_documentation
-     - Not Yet Available
    * - https://github.com/ros2/ros2_tracing
-     - Not Yet Available
    * - https://github.com/ros2/ros2cli
-     - Not Yet Available
    * - https://github.com/ros2/ros2cli_common_extensions
-     - Not Yet Available
    * - https://github.com/ros2/rosbag2
-     - Not Yet Available
    * - https://github.com/ros2/rosidl
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_core
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_dds
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_defaults
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_dynamic_typesupport
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_dynamic_typesupport_fastrtps
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_python
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_runtime_py
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_typesupport
-     - Not Yet Available
    * - https://github.com/ros2/rosidl_typesupport_fastrtps
-     - Not Yet Available
    * - https://github.com/ros2/rpyutils
-     - Not Yet Available
    * - https://github.com/ros2/rviz
-     - Not Yet Available
    * - https://github.com/ros2/spdlog_vendor
-     - Not Yet Available
    * - https://github.com/ros2/sros2
-     - Not Yet Available
    * - https://github.com/ros2/system_tests
-     - Not Yet Available
    * - https://github.com/ros2/test_interface_files
-     - Not Yet Available
    * - https://github.com/ros2/tinyxml_vendor
-     - Not Yet Available
    * - https://github.com/ros2/tinyxml2_vendor
-     - Not Yet Available
    * - https://github.com/ros2/tlsf
-     - Not Yet Available
    * - https://github.com/ros2/unique_identifier_msgs
-     - Not Yet Available
    * - https://github.com/ros2/urdf
-     - Not Yet Available
    * - https://github.com/ros2/yaml_cpp_vendor
-     - Not Yet Available
 
 Upcoming ROS Events
 -------------------

source/The-ROS2-Project/Roadmap.rst

@@ -15,39 +15,22 @@ This page describes planned work for ROS 2.
 The set of planned features and development efforts should provide insight into the overall direction of ROS 2.
 If you would like to see other features on the roadmap, please get in touch with us at [email protected].
 
-Kilted Roadmap
---------------
+Lyrical Luth
+------------
 
-Kilted Kaiju is the ROS 2 release expected in May 2025.
-See the :doc:`release page <../Releases/Release-Kilted-Kaiju>` for a detailed timeline.
+Lyrical Luth is the ROS 2 release expected in May 2026.
+See the :doc:`release page <../Releases/Release-Lyrical-Luth>` for a detailed timeline.
 
-The items in the roadmap below are the major features being worked on by the ROS 2 community.
+Lyrical Roadmap
+---------------
+
+The features being worked on are tracked on the `GitHub Project Board <https://github.com/orgs/ros2/projects/70>`__.
+The items in the roadmap are the major features being worked on by the ROS 2 community.
 The "Size" is an estimated size of the task, where *Small* means person-days to complete, *Medium* means person-weeks to complete, and *Large* means person-months to complete.
 
-If you are working on a feature for ROS 2 and would like to have it listed, please open a pull request to `ROS 2 Documentation <https://github.com/ros2/ros2_documentation>`__.
+If you are working on a feature for ROS 2 and would like to have it listed, please open an issue on `ROS 2 Documentation <https://github.com/ros2/ros2_documentation>`__.
 If you'd like to take on one of these tasks, please :doc:`get in touch with us <../Contact>`.
 
-.. raw:: html
-
-   <style>
-     .wy-table-responsive table td, .wy-table-responsive table th {
-       white-space: normal;
-     }
-   </style>
-
-.. list-table::
-   :widths: 40 10 25 25
-   :header-rows: 1
-
-   * - Task
-     - Size
-     - Owner
-     - Expected Completion
-   * - Make ``rmw_zenoh_cpp`` a Tier-1 RMW
-     - Large
-     - Intrinsic
-     - May 2025
-
 Planned releases
 ----------------
 

source/Tutorials/Advanced/Creating-An-RMW-Implementation.rst

@@ -455,8 +455,11 @@ These tests can use ``rmw``'s ``rmw_get_implementation_identifier()`` `function
 Middleware- and ``rmw`` implementation-specific configuration
 -------------------------------------------------------------
 
-The ``rmw`` interface as defined by that package does not support passing arbitrary configuration data to the implementation or the underlying middleware.
-To get around that and introduce some flexibility, some implementations use environment variables: ``RMW_FASTRTPS_*``, ``RMW_CONNEXT_*``, etc.
+The ``rmw`` interface allows providing arbitrary implementation-specific configuration payloads for publishers and subscriptions through the type-erased ``rmw_specific_publisher_payload`` / ``rmw_specific_subscription_payload`` fields in ``rmw_publisher_options_t`` / ``rmw_subscription_options_t``.
+This is set by users through ``RMWImplementationSpecificPublisherPayload`` / ``RMWImplementationSpecificSubscriptionPayload`` in ``rclcpp``, for example.
+This is an advanced, non-portable feature that is not currently used by any (tier 1) implementations.
+
+For a bit more flexibility, some implementations use environment variables: ``RMW_FASTRTPS_*``, ``RMW_CONNEXT_*``, etc.
 The underlying middleware may also be configurable through environment variables: ``FASTDDS_*``, ``ZENOH_*``, ``CYCLONEDDS_*``, ``EMAIL_*``, etc.
 For example, the ``CYCLONEDDS_URI``, ``FASTDDS_DEFAULT_PROFILES_FILE``, and ``ZENOH_SESSION_CONFIG_URI`` environment variables can be used to provide a path to a full configuration file if the relevant middleware is used.