如何开心愉快兴趣满满的学习机器人和人工智能知识并提升思维力

欢迎加入到机器人和人工智能的浪潮中来，更多挑战，更多机遇，充满风险，也充满希望！

如果觉得文中一些涉及的内容和物品很不错，求赞求分享。谢谢。

兴趣是最好的老师，教育是为了更好地认识自己，理解社会。

这些年我们在做什么？

五年，我们只做了一件事，上好一门课。

教学和实验案例分享：自动驾驶的乐趣

涉及知识点：编程基础Python，图像识别OpenCV，机器人学相关，如：传感器信息融合，运动控制，策略规划等，人工智能相关，如强化学习等。环境如下图所示：

学生在课程后，可以掌握用深度学习方式让机器人识别环境路标，图像分割提取路况信息，前行和转向的控制方法，泊车路径规划策略等，包括理论知识，逻辑算法，编程技术和实践调试。

接着进一步引入机器人操作系统的概念，如何借助ROS，实现功能全面扩展。支持ROS 1.0(K, M)和ROS 2.0(A, B, C, D)。

环境已经全部集成到ROS2GO中。

课程学习后，可以掌握机器人消息通信机制，传感器数据可视化，机器人三维模型搭建等。

致谢Anki，致谢ExBot，致谢机器人操作系统（ROS）教育基金会，致谢TianBot。

重磅分享，下载地址：

https://share.weiyun.com/5yyn9bX

了解ROS来龙去脉，不得不看的经典之作。速速下载收藏吧。

ROS 2最新资讯：

ROS 2 TSC Meeting Minutes: 2019-06-20

Attendees

Open Robotics: Brian G, Louise, William

LGE: Seonman

Tier IV: Geoff

eProsima: Jaime

Intel: Matt H.

Apex.AI: Lyle

ROBOTIS: Pyo

TRI: Toffee

Bosch: Karsten

Acutronic Robotics: Victor

Amazon: Rutvik

ARM: Filipe

Microsoft: Sean

GVSC (TARDEC): Jon Smereka

Old business
[2 mins] [Gerkey] ROS Elevator Pitch Brochure

Done, with PR to update the docs merged (example: A4 web format).

Need to re-enable the update job to push it public.

It will land here: https://index.ros.org/doc/ros2/Marketing

[2 mins] [Gerkey] ROS trademark update
Draft use policy under development, led by Geoff with input from Brian G., Jaime, and some others.

Brian to respond to outstanding feedback.

Goal: finish first draft by the end of June, go to legal review, then bring to TSC for discussion.

New business:
[5 mins] [Gerkey] ROSCon updates

ROSCon FR (June 2019)

ROSCon JP (September 2019)

ROSCon (October/November 2019)
Submission deadline: July 15th

Discourse thread on ideas for presentations

[10 mins] [Gerkey] Dashing debrief
How did we do with the release?

What went well?

(Victor) Thanks, their porting went well. Pre-release of Dashing was rather useful (empowered a complete port within a week of time, including external ROS 2 packages for manipulation)

What could be improved?
(Matt H. for nav team) Late changes in Fast-RTPS (1.7.2 - 1.8.0) were disruptive, happened in May, still recovering.

We should integrate more Nav tests to avoid breaks like this.

Nav team has tests which are docker-ized and use gazebo.

Lifecycle node greatly increased number of topics and services, making nav test stress the middleware in new ways that aren’t caught by existing tests.

ROS 2 team to integrate a periodic (nightly?) version of Matt’s nav test.
Future goal: distill nav test to its basic stress-testing characteristics without the complexity of nav or gazebo.

(Geoff) In the future ROS 2 release team could take in results from external CI as well (e.g. Autoware) during the release testing.

(Victor) geometry2 was released late. Fixed though.

(Karsten) issues with getting ROS 1 package maintainers to be responsive to changes (specifically ones needed for ROS 2)
Use the existing process, wherein Open Robotics staff and others in the community will help to mediate handovers: https://wiki.ros.org/MaintenanceGuide#Claiming_Maintainership

[10 mins] [Gerkey] New member application(s) discussion

Standing updates:
[20 min] [William / All] Roadmap planning - Eloquent Elusor

Master ticket is ready, seeded with Open Robotics’ planned tasks: https://github.com/ros2/ros2/issues/734

List is work in progress, subject to change

Getting back to rviz to fill in some long-standing gaps
(Matt H.) Trouble with matching QoS types, e.g., for a map publisher with latching-like behavior. Issue to be opened on rviz.

There is an issue already filed here which I believe is the same thing:

https://github.com/ros2/rviz/issues/400

Add the ability to do dynamic_reconfigure-like GUI features via rqt for handling params.

Plan to get performance tests integrated into main CI system

(Rutvik) How about creating a user-focused theme for Eloquent, to help motivate which features are to be prioritized? Volunteers to work on that:
Rutvik

Brian

Geoff

All are invited to add their own planned contributions as comments to the Eloquent master ticket.

TSC members updates:
ROBOTIS

Prepare the TurtleBot3 on ROS 2 Dashing with Micro-XRCE-DDS Agent, ros2arduino

Apex.AI
From https://github.com/ros2/ros2/issues/607#issuecomment-465832840 we will for ROS 2 E work on the performance_test part. Major contributions include

Results will be dumped into the SQL-like database

Multi-process support

ros2 launch support

Aggregation of the test results into the test management suite (which will then allow regression monitoring and better bug triaging)

Further contributions that we could bring in (items with * are on the https://index.ros.org/doc/ros2/Roadmap/; we would contribute 1-2 things based on the popular demand):
Static code analysers (we are evaluating LDRA, TrustInSoft)

Dynamic code analysers (e.g. Silexica SLX C++)

*Rewritten rmw layer (super easy integration of DDS implementations, exposed full DDS API, 1 copy operation only, …)

*rmw that includes RTI Connext Micro

Documentation testing extension to launch_testing (in which the documentation files written in markdown are instrumented such that they become integration tests)

Presentation of best practices needed for development according to the ISO 26262 (FuSa for automotive)

*Upstream the velodyne driver from https://gitlab.com/AutowareAuto/AutowareAuto/tree/master/src/drivers to https://github.com/ros-drivers

Support for ROS2 compilation on QNX

Configuration management system. We see these use cases which ROS 2 parameters do not satisfy:
Global configuration that many nodes share (e.g. RTOS priorities, vehicle dimensions, …)

Process level configuration

Communication configuration (DDS Connext Micro)

*Waitset implementation in rclcpp

eProsima
Fast RTPS 1.8.1 to be released next week

Liveliness completed & bug fixes

Micro XRCE-DDS 1.1: To be released also, aligned with Fast RTPS 1.8.1
Micro-ROS to follow.

Discovery Server: Public release next week.

Performance Tests: Public end of this month
Dedicated machines.

ROS2 Integration Service
Based on OSRF SOSS

ROSIN Project

Tier IV
We have 8 half-FTEs beginning work on ROS 2 contributions (total 4 FTEs)

Proposed contributions for ROS 2 E:
Debian as Tier 1 (preferred) or Tier 2 platform

Real-time publish/subscribe capability via adding new executors and/or implementing callback groups (need to consult William to determine specific work required; will also of course coordinate with real-time WG)

Implement an rmw library for RTI’s real-time DDS (Connext DDS Cert)

LGE
On Friday (6/21) we should be able to submit a PR to build webOS OSE with ROS 2 dashing release that’s upgraded to OpenEmbedded 2.6 Thud;

We tested it on raspberrypi3 and emulator (qemux86). It depends on OSE releasing the updated OpenEmbedded support.

Need help from OSRF to finish the transfer of meta-ros to ros-infrastructure (from bmwcarit) so PR can be submitted

Microsoft
Ongoing project to do Windows binary packaging for ROS 2. Idea is to use bloom to produce vcpkg data and then produce chocolatey artifacts. More work needed to better connect vcpkg and chocolatey.

Working on producing Dashing binaries from MS build farm.

Working group updates:
[3 min] [Matt H] Navigation

Still wrapping up release for Dashing; aiming for end of June.

[3 min] [Rutvik] Security
Bug fix in moveit2 https://github.com/AcutronicRobotics/moveit2/pull/113. Short write up https://github.com/vmayoral/basic_robot_cybersecurity/tree/master/robot_vulnerabilities/tutorial2.

Planning to dedicate some resources to ensure moveit2 makes use of dynamic bug finding tools.
To be integrated in the moveit2 CI analyzing both the moveit2 code and ROS 2 (base) code https://github.com/AcutronicRobotics/moveit2_ci/issues/2

Planning to report and fix bugs as they’re found (to a limited amount of resources)

[3 min] [Lyle] Real-time
ROS 2 real-time workshop was accepted at ROSCon

First meeting action items:
Dejan to provide a use case description and the requirements

Find someone that will lead the work on real-time capable rmw

Get William to present his findings on real-timeness in rcutils, rcl, and rclcpp

Create a shared repository for tools used for static and dynamic code analysis as well as tracing

Present Bosch paper and real-time with Callback+Executor in detail in one of the next meetings

QA RT buildfarm being finalized and prepared for public release.

First peek available at https://acutronicrobotics.com/news/dashing-ros/

[3 min] [Geoff] Safety
Held a somewhat better attended meeting (5 participants, so extrapolating we should have half the ROS community by mid-next year)

Safety-critical WG

There is significant interest in safety, but most people don’t know exactly what is needed or what to contribute

We have some concrete actions we can work on (see above topic) but are resource-constrained

[3 min] [Karsten] Embedded
Need more activity; Acutronic, eProsima are interested to participate

[3 min] [Víctor] Manipulation
Moveit 2 alpha release https://acutronicrobotics.com/news/moveit-2-journey-moveit-2-alpha-release/

Moveit 2 and CI ported to Dashing official release https://github.com/acutronicrobotics/moveit2

Still submitting PRs upstream but very little response from the moveit community (slowing down contributions).

Aiming to get pick&place moveit tutorial running in the coming weeks

Considering different avenues for the future

初稿待完善

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如何开心愉快兴趣满满的学习机器人和人工智能知识并提升思维力

ROS 2 TSC Meeting Minutes: 2019-06-20

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