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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
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Update meta info
paudrow Nov 18, 2021
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118 changes: 116 additions & 2 deletions rep-2000.rst
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@@ -1,10 +1,10 @@
REP: 2000
Title: ROS 2 Releases and Target Platforms
Author: Mikael Arguedas <mikael@openrobotics.org>, Steven! Ragnarok <steven@openrobotics.org>, Dirk Thomas <dthomas@openrobotics.org>
Author: Mikael Arguedas <mikael@openrobotics.org>, Steven! Ragnarok <steven@openrobotics.org>, Dirk Thomas <dthomas@openrobotics.org>, Audrow Nash <audrow@openrobotics.org>
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
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- OpenEmbedded: opkg


Build System Support:

- ament_cmake
- cmake
- setuptools

Humble Hawksbill (May 2022 - May 2027)
--------------------------------------

.. note::

This section is subject to change until the `Humble freeze on April 4, 2022 <https://docs.ros.org/en/rolling/Releases/Release-Humble-Hawksbill.html#release-timeline>`_.

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 | 3.3.4 | 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 |
+-------------+----------------+----------------+----------+---------------+------------------+---------------------+
| 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).

" ** " 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.

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
Expand Down