Roadmap for ROS 2 Galactic

After reviewing our most recent accomplishments and dusting off our To-Do list, we drafted the roadmap for the next months of development and designed an exciting plan for the ROS 2 Galactic release.

Our priorities will be:

• Migrating all functionalities to the rclc, so as to convert it into the default micro-ROS user API and an independent abstraction layer on top of the rcl. Namely, the missing features to achieve this goal are:
  • Implement parameters in rclc, together with a dedicated parameters manager in the Agent.
  • Migrate actions to the rclc, as we recently did with services.
  • Migrate graphs to the rclc, based on their recent implementation both in the rmw and in the Agent.
• Adapt micro-ROS packages and CI to the rolling release before Galactic is out.
• Implement and polish a mature peer-to-peer functionality to achieve brokerless communication among Clients.

Additional improvements: continue to improve the stability and extend the capability of the middleware layer, evaluating which efforts are worthy to be addressed (e.g. implement multi-threading).