From 523375897690471f5f7da09235ad521c9d2d410f Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Tue, 9 Nov 2021 12:17:37 -0800 Subject: [PATCH 1/7] Add Humble to REP 2000 Signed-off-by: Audrow Nash --- rep-2000.rst | 113 +++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 113 insertions(+) diff --git a/rep-2000.rst b/rep-2000.rst index 5eb0a02c..2ae5cf28 100644 --- a/rep-2000.rst +++ b/rep-2000.rst @@ -823,6 +823,119 @@ Package manager use for dependencies: - OpenEmbedded: opkg +Build System Support: + +- ament_cmake +- cmake +- setuptools + +Humble Hawksbill (May 2022 - May 2027) +-------------------------------------- + +Targeted platforms: + ++--------------+------------------+---------------+------------------+------------+-----------------+----------------+ +| Architecture | Ubuntu Jammy | Windows 10 | RHEL 8 | macOS | Debian Bullseye | OpenEmbedded / | +| | (22.04) | (VS2019) | | | (11) | webOS OSE | ++==============+==================+===============+==================+============+=================+================+ +| amd64 | Tier 1 [d][a][s] | Tier 1 [a][s] | Tier 2 [d][a][s] | Tier 3 [s] | Tier 3 [s] | | ++--------------+------------------+---------------+------------------+------------+-----------------+----------------+ +| arm64 | Tier 1 [d][a][s] | | | | Tier 3 [s] | Tier 3 [s] | ++--------------+------------------+---------------+------------------+------------+-----------------+----------------+ +| arm32 | Tier 3 [s] | | | | Tier 3 [s] | Tier 3 [s] | ++--------------+------------------+---------------+------------------+------------+-----------------+----------------+ + +The following indicators show what delivery mechanisms are available for each platform. + +" [d] " Distribution-specific (Debian, RPM, etc.) packages will be provided for this platform for packages submitted to the rosdistro. + +" [a] " Binary releases are provided as a single archive per platform containing all packages in the Galactic ROS 2 repos file [10]_. + +" [s] " Compilation from source. + +Middleware Implementation Support: + ++--------------------------+---------------------+---------------+----------------------------+--------------------------------+ +| Middleware Library | Middleware Provider | Support Level | Platforms | Architectures | ++==========================+=====================+===============+============================+================================+ +| rmw_cyclonedds_cpp | Eclipse Cyclone DDS | Tier 1 | All Platforms | All Architectures | ++--------------------------+---------------------+---------------+----------------------------+--------------------------------+ +| rmw_fastrtps_cpp | eProsima Fast-DDS | Tier 1 | All Platforms | All Architectures | ++--------------------------+---------------------+---------------+----------------------------+--------------------------------+ +| rmw_connextdds | RTI Connext | Tier 1 | Ubuntu, Windows, and macOS | All Architectures except arm64 | ++--------------------------+---------------------+---------------+----------------------------+--------------------------------+ +| rmw_fastrtps_dynamic_cpp | eProsima Fast-DDS | Tier 2 | All Platforms | All Architectures | ++--------------------------+---------------------+---------------+----------------------------+--------------------------------+ + +Middleware implementation support is dependent upon the platform support tier. +For example a Tier 1 middleware implementation on a Tier 2 platform can only receive Tier 2 support. + +Minimum language requirements: + +- C++17 +- Python 3.8 + + +Dependency Requirements: + ++-------------+---------------------------------+-------------------------------------------------------------------+ +| | Required Support | Recommended Support | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Package | Ubuntu Jammy | Windows 10** | RHEL 8 | macOS** | Debian Bullseye | OpenEmbedded** | ++=============+================+================+==========+===============+==================+=====================+ +| CMake | 3.21.3 | 3.22.0 | 3.18.2 | 3.14.4 | 3.18.4 | 3.16.1 / 3.12.2**** | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| EmPY | 3.3.2 | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Gazebo | 11.8.0* | N/A | N/A | 11.0.0 | 11.0.0* | N/A | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Ignition | Fortress* | N/A | N/A | Edifice* | Edifice* | N/A | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Ogre | 1.10* | N/A | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| OpenCV | 4.5.4 | 4.5.4 | 3.4.6 | 4.2.0 | 4.5.1 | 4.1.0 / 3.2.0**** | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| OpenSSL | 1.1.1l | 1.1.1l | 1.1.1g | 1.1.1f | 1.1.1i | 1.1.1d / 1.1.1b**** | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Python | 3.10.0 | 3.8.3 | 3.6.8 | 3.8.2 | 3.9.1 | 3.8.2 / 3.7.5**** | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Qt | 5.15.2 | 5.12.10 | 5.12.5 | 5.12.3 | 5.15.2 | 5.14.1 / 5.12.5**** | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| | **Linux only** | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| PCL | 1.12.0 | N/A | 1.12.0 | N/A | 1.11.1 | 1.10.0 | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| **RMW DDS Middleware Providers** | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Cyclone DDS | 0.8.x (Réplique) | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Fast-DDS | 2.4.x | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ +| Connext DDS | 5.3.1 | N/A | 5.3.1 | N/A | ++-------------+----------------+----------------+----------+---------------+------------------+---------------------+ + +" * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories). + +" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime. +The versions shown for OpenEmbedded are those provided by the 3.1 Dunfell release series; the versions provided by the other supported release series are listed here: https://github.com/ros/meta-ros/wiki/Package-Version-Differences . +Note that the OpenEmbedded releases series for which a ROS distro has support will change during its support time frame, as per the OpenEmbedded support policy shown here: https://github.com/ros/meta-ros/wiki/Policies#openembedded-release-series-support . +However, it will always be supported by least one stable OpenEmbedded release series. + +" \**** " webOS OSE provides this different version. + +This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. +These versions are thus a low watermark. + + +Package manager use for dependencies: + +- Ubuntu, Debian: apt +- Windows: Chocolatey, pip +- macOS: Homebrew, pip +- RHEL: dnf +- OpenEmbedded: opkg + + Build System Support: - ament_cmake From 5758ce89777eb2181162fc011ad2681c72e7cf62 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Wed, 10 Nov 2021 13:27:20 -0800 Subject: [PATCH 2/7] Update Gazebo and Ignition versions Signed-off-by: Audrow Nash Co-authored-by: Chris Lalancette --- rep-2000.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rep-2000.rst b/rep-2000.rst index 2ae5cf28..f0981633 100644 --- a/rep-2000.rst +++ b/rep-2000.rst @@ -887,9 +887,9 @@ Dependency Requirements: +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ | EmPY | 3.3.2 | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ -| Gazebo | 11.8.0* | N/A | N/A | 11.0.0 | 11.0.0* | N/A | +| Gazebo | 11.x.x* | N/A | N/A | 11.x.x | 11.x.x* | N/A | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ -| Ignition | Fortress* | N/A | N/A | Edifice* | Edifice* | N/A | +| Ignition | Fortress* | N/A | N/A | Fortress* | Fortress* | N/A | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ | Ogre | 1.10* | N/A | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ From ce8b91a5f82f28e471c3909443ccc32e6a35beb2 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Wed, 10 Nov 2021 13:32:23 -0800 Subject: [PATCH 3/7] Clarify note ** Signed-off-by: Audrow Nash --- rep-2000.rst | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/rep-2000.rst b/rep-2000.rst index f0981633..ba9259d3 100644 --- a/rep-2000.rst +++ b/rep-2000.rst @@ -916,10 +916,7 @@ Dependency Requirements: " * " means that this is not the upstream version (available on the official Operating System repositories) but a package distributed by OSRF or the community (package built and distributed on custom repositories). -" ** " Rolling distributions will see multiple version changes of these dependencies during their lifetime. -The versions shown for OpenEmbedded are those provided by the 3.1 Dunfell release series; the versions provided by the other supported release series are listed here: https://github.com/ros/meta-ros/wiki/Package-Version-Differences . -Note that the OpenEmbedded releases series for which a ROS distro has support will change during its support time frame, as per the OpenEmbedded support policy shown here: https://github.com/ros/meta-ros/wiki/Policies#openembedded-release-series-support . -However, it will always be supported by least one stable OpenEmbedded release series. +" ** " means that the dependency may see multiple version changes, because the dependency uses a package manager that continually updates the dependency without a stable API. " \**** " webOS OSE provides this different version. From 931c4d1c20400b3ca3dcd5dcf493667a1ccbb07c Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Wed, 10 Nov 2021 13:32:55 -0800 Subject: [PATCH 4/7] Update stars + fix table formatting Signed-off-by: Audrow Nash --- rep-2000.rst | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/rep-2000.rst b/rep-2000.rst index ba9259d3..eecf1f30 100644 --- a/rep-2000.rst +++ b/rep-2000.rst @@ -883,23 +883,23 @@ Dependency Requirements: +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ | Package | Ubuntu Jammy | Windows 10** | RHEL 8 | macOS** | Debian Bullseye | OpenEmbedded** | +=============+================+================+==========+===============+==================+=====================+ -| CMake | 3.21.3 | 3.22.0 | 3.18.2 | 3.14.4 | 3.18.4 | 3.16.1 / 3.12.2**** | +| CMake | 3.21.3 | 3.22.0 | 3.18.2 | 3.14.4 | 3.18.4 | 3.16.1 / 3.12.2*** | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ | EmPY | 3.3.2 | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ | Gazebo | 11.x.x* | N/A | N/A | 11.x.x | 11.x.x* | N/A | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ -| Ignition | Fortress* | N/A | N/A | Fortress* | Fortress* | N/A | +| Ignition | Fortress* | N/A | N/A | Fortress* | Fortress* | N/A | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ | Ogre | 1.10* | N/A | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ -| OpenCV | 4.5.4 | 4.5.4 | 3.4.6 | 4.2.0 | 4.5.1 | 4.1.0 / 3.2.0**** | +| OpenCV | 4.5.4 | 4.5.4 | 3.4.6 | 4.2.0 | 4.5.1 | 4.1.0 / 3.2.0*** | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ -| OpenSSL | 1.1.1l | 1.1.1l | 1.1.1g | 1.1.1f | 1.1.1i | 1.1.1d / 1.1.1b**** | +| OpenSSL | 1.1.1l | 1.1.1l | 1.1.1g | 1.1.1f | 1.1.1i | 1.1.1d / 1.1.1b*** | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ -| Python | 3.10.0 | 3.8.3 | 3.6.8 | 3.8.2 | 3.9.1 | 3.8.2 / 3.7.5**** | +| Python | 3.10.0 | 3.8.3 | 3.6.8 | 3.8.2 | 3.9.1 | 3.8.2 / 3.7.5*** | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ -| Qt | 5.15.2 | 5.12.10 | 5.12.5 | 5.12.3 | 5.15.2 | 5.14.1 / 5.12.5**** | +| Qt | 5.15.2 | 5.12.10 | 5.12.5 | 5.12.3 | 5.15.2 | 5.14.1 / 5.12.5*** | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ | | **Linux only** | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ @@ -918,7 +918,7 @@ Dependency Requirements: " ** " means that the dependency may see multiple version changes, because the dependency uses a package manager that continually updates the dependency without a stable API. -" \**** " webOS OSE provides this different version. +" *** " webOS OSE provides this different version. This document only captures the version at the first release of a ROS distribution and will not be updated as the dependencies move forward. These versions are thus a low watermark. From f99ff26309760947501c0927be1f4fbdafb6f10d Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Thu, 11 Nov 2021 10:22:03 -0800 Subject: [PATCH 5/7] Add note that humble section may change Signed-off-by: Audrow Nash --- rep-2000.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/rep-2000.rst b/rep-2000.rst index eecf1f30..41ec4c71 100644 --- a/rep-2000.rst +++ b/rep-2000.rst @@ -832,6 +832,10 @@ Build System Support: Humble Hawksbill (May 2022 - May 2027) -------------------------------------- +.. note:: + + This section is subject to change until the `Humble freeze on April 4, 2022 `_. + Targeted platforms: +--------------+------------------+---------------+------------------+------------+-----------------+----------------+ From 89126a334c864ba0951a25595a2cab059e4b5366 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Tue, 16 Nov 2021 12:04:11 -0800 Subject: [PATCH 6/7] Update empy version MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Audrow Nash Co-authored-by: Steven! Ragnarök --- rep-2000.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rep-2000.rst b/rep-2000.rst index 41ec4c71..920c11b0 100644 --- a/rep-2000.rst +++ b/rep-2000.rst @@ -889,7 +889,7 @@ Dependency Requirements: +=============+================+================+==========+===============+==================+=====================+ | CMake | 3.21.3 | 3.22.0 | 3.18.2 | 3.14.4 | 3.18.4 | 3.16.1 / 3.12.2*** | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ -| EmPY | 3.3.2 | +| EmPY | 3.3.4 | 3.3.2 | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ | Gazebo | 11.x.x* | N/A | N/A | 11.x.x | 11.x.x* | N/A | +-------------+----------------+----------------+----------+---------------+------------------+---------------------+ From 719c7e8702189b83251a44c80c5a2bf3617259a3 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Thu, 18 Nov 2021 09:49:12 -0800 Subject: [PATCH 7/7] Update meta info Signed-off-by: Audrow Nash --- rep-2000.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rep-2000.rst b/rep-2000.rst index 920c11b0..af106694 100644 --- a/rep-2000.rst +++ b/rep-2000.rst @@ -1,10 +1,10 @@ REP: 2000 Title: ROS 2 Releases and Target Platforms -Author: Mikael Arguedas , Steven! Ragnarok , Dirk Thomas +Author: Mikael Arguedas , Steven! Ragnarok , Dirk Thomas , Audrow Nash Status: Active Type: Informational Content-Type: text/x-rst -Created: 10-Apr-2018, 24-Apr-2018, 21-May-2018, 10-Dec-2018, 20-May-2019, 21-May-2019, 29-Aug-2019, 25-Feb-2020 +Created: 10-Apr-2018, 24-Apr-2018, 21-May-2018, 10-Dec-2018, 20-May-2019, 21-May-2019, 29-Aug-2019, 25-Feb-2020, 18-Nov-2021 Abstract