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Add Humble to REP 2000 #326

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Nov 18, 2021
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Add Humble to REP 2000 #326

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5233758
Add Humble to REP 2000
paudrow Nov 9, 2021
5758ce8
Update Gazebo and Ignition versions
paudrow Nov 10, 2021
ce8b91a
Clarify note **
paudrow Nov 10, 2021
931c4d1
Update stars + fix table formatting
paudrow Nov 10, 2021
f99ff26
Add note that humble section may change
paudrow Nov 11, 2021
89126a3
Update empy version
paudrow Nov 16, 2021
719c7e8
Update meta info
paudrow Nov 18, 2021
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113 changes: 113 additions & 0 deletions rep-2000.rst
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Expand Up @@ -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
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Is there any reason not to target c++20?

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Is there any reason not to target c++20?

There are a few reasons we don't think we are going to do this for Humble:

  1. Every time we've switched C++ versions, it has taken some non-trivial amount of work to keep things working without warnings. Someone would have to step up to do that work.
  2. All of our Tier 1 platforms probably support C++20 well, but not all of the Tier 2 and Tier 3 ones do.
  3. Part of the ROS 2 community deals with safety certification, things like MISRA. Since those standards tend to lag behind the relevant standards, switching to a new C++ version too early can leave those users behind.

- 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 |
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+-------------+----------------+----------------+----------+---------------+------------------+---------------------+
| 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 |
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+-------------+----------------+----------------+----------+---------------+------------------+---------------------+
| 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.
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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 .
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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
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