依据官方消息如下:
4 月 25 日星期一,我们将进入 ROS 2 Humble Hawksbill 的“测试”开发阶段。目前,将提供适用于 Ubuntu Jammy、Windows 10 和 RHEL 8 的二进制包。将在 4 月 25 日发布另一篇文章,宣布测试版并提供测试测试版的一般信息。
可以在此处找到有关 Humble 发布时间表的更多信息:ROS 2 Humble Hawksbill
☞ docs.ros.org/en/rolling/Releases/Release-Humble-Hawksbill.html#release-timeline
Release Timeline
Mon. March 21, 2022 - Alpha + RMW freeze
Preliminary testing and stabilization of ROS Base 1 packages, and API and feature freeze for RMW provider packages.
Mon. April 4, 2022 - Freeze
API and feature freeze for ROS Base 1 packages in Rolling Ridley. Only bug fix releases should be made after this point. New packages can be released independently.
Mon. April 18, 2022 - Branch
Branch from Rolling Ridley. rosdistro is reopened for Rolling PRs for ROS Base 1 packages. Humble development shifts from ros-rolling-* packages to ros-humble-* packages.
Mon. April 25, 2022 - Beta
Updated releases of ROS Desktop 2 packages available. Call for general testing.
Mon. May 16, 2022 - Release Candidate
Release Candidate packages are built. Updated releases of ROS Desktop 2 packages available.
Thu. May 19, 2022 - Distro Freeze
Freeze rosdistro. No PRs for Humble on the rosdistro repo will be merged (reopens after the release announcement).
Mon. May 23, 2022 - General Availability
Release announcement. rosdistro is reopened for Humble PRs.
发布时间表
星期一。 2022 年 3 月 21 日 - Alpha + RMW 冻结
ROS Base 1 软件包的初步测试和稳定性,以及 RMW 提供程序软件包的 API 和功能冻结。
星期一。 2022 年 4 月 4 日 - 冻结
Rolling Ridley 中 ROS Base 1 软件包的 API 和功能冻结。在此之后只应发布错误修复版本。新包可以独立发布。
星期一。 2022 年 4 月 18 日 - 分支
来自 Rolling Ridley 的分支。 rosdistro 为 ROS Base 1 包的滚动 PR 重新打开。 Humble 开发从 ros-rolling-* 包转移到 ros-humble-* 包。
星期一。 2022 年 4 月 25 日 - 测试版
可用的 ROS Desktop 2 软件包的更新版本。要求进行一般测试。
星期一。 2022 年 5 月 16 日 - 发布候选
发布候选包已构建。可用的 ROS Desktop 2 软件包的更新版本。
周四。 2022 年 5 月 19 日 - 发行版冻结
冻结rosdistro。 rosdistro repo 上的 Humble 不会合并任何 PR(在发布公告后重新打开)。
星期一。 2022 年 5 月 23 日 - 全面上市
发布公告。 rosdistro 为 Humble PR 重新开放。
发行版
什么是发行版?
ROS 发行版是一组版本化的 ROS 包。 这些类似于 Linux 发行版(例如 Ubuntu)。 ROS 发行版的目的是让开发人员在一个相对稳定的代码库上工作,直到准备好推进一切。 因此,一旦发行版发布,会尝试限制对核心软件包的错误修复和非破坏性改进的更改(ros-desktop-full 下的所有内容)。 这通常适用于整个社区,但是对于“更高”级别的包,规则不那么严格,因此要避免给定包的维护者造成破坏性更改。
路线图
Humble Hawksbill 是预计于 2022 年 5 月发布的 ROS 2。有关详细时间表,请参阅发布。
Task |
Size |
Owner |
Expected Completion |
---|---|---|---|
Identify if messages have changed over time |
Large |
Apex.AI |
|
Rosbag2 playback controlled by /clock sim time |
Small |
AWS |
Q3 2021 |
Rosbag2 “Snapshot mode” |
Medium |
AWS |
Q3 2021 |
Multi-threaded Executor for rclc |
Medium |
Bosch |
1st quarter 2022 |
Configurable Executor thread priorities for rclcpp |
Medium |
Bosch |
1st quarter 2022 |
Various small improvements to Diagnostics |
Small |
Bosch |
1st quarter 2022 |
Performance improvements: Implement events executor in rclcpp |
Large |
iRobot |
4th quarter 2021 |
Performance improvements: Improve intra-process optimization and loaned message APIs |
Medium |
iRobot |
4th quarter 2021 |
Developer experience: Better integration of ROS 2 repos with package managers and documentation for building/running ROS 2 applications. |
Large |
iRobot |
2nd quarter 2022 |
Develop a system level QoS/network debugging tool |
Large |
Open Robotics |
|
Documentation: Add Python API support to rosdoc2 |
Medium |
Open Robotics |
4th quarter 2021 |
Documentation: Support inter-package linking for rosdoc2 buildfarm jobs |
Small |
Open Robotics |
1st quarter 2022 |
Documentation: Upload C++ API documentation for core packages to docs site |
Medium |
Open Robotics |
4th quarter 2021 |
Humble Release |
Large |
Open Robotics |
2nd quarter 2022 |
Improve service and action reliability for frequencies greater than 10Hz |
Medium |
Open Robotics |
1st quarter 2022 |
Improve RViz2 stability |
Medium |
Open Robotics |
4th quarter 2021 |
Middleware: Default middleware selection |
Medium |
Open Robotics |
Complete |
Middleware: Report on feasibility of using Zenoh as an RMW |
Medium |
Open Robotics |
Complete |
Overlays work to override any package in a dependency tree |
Large |
Open Robotics |
2nd quarter 2022 |
Revamp launch testing |
Large |
Open Robotics |
Complete |
Filter topic messages by content in rclcpp |
Large |
Sony |
1st quarter 2022 |
Wait for an acknowledgment from a reliable publisher in rclcpp and rclpy |
Small |
Sony |
Complete |