Quality requirements for ros2_control packages

[destogl]

Hi,

working on ros2_control_demos package I found a few interesting stuff regarding the quality or ROS2 packages. I would like to document those here and we could use it to discuss what we would like to have in the short and long run. So I propose an initial list and hope for some feedback :)

List of quality requirement for ros2_control*-packages:

• GitHub Actions for CI, Lint and CodeCoverage (e.g. see ros2_control_demos package)
• Templates for Issues and PRs - GitHub-Doku - Example-rclcpp
• Quality Declaration - REP2004 Example-rclcpp
• As a ros2_control developer, I want to have CI for my PRs so I can maintain the quality and stability of my contributions ros2_control#21
• As a ros2_control developer, I want up to date documentation so I can easily understand how to develop my robotics controller ros2_control#22
• As a ros2_control developer, I want unit tests for my packages so I can catch regressions and failures ros2_control#23

[bmagyar]

I've added this to the agenda for the next meeting

[fkromer]

Are you guys planning to consider IEC 62443 (Insutrial communication networks - IT security for networks and systems) and IEC 61131 (IEC61508 applied to PLCs) as well? It would be very optmistic to comply with them in the first place. But at least considering them could result in a high level design which would people help to migrate ros2_control to a certifiable solution. Equivalent to how Apex.AI did with their ROS2 fork for the automotive domain.

I'm pretty sure Víctor Mayoral Vilches from https://aliasrobotics.com would be interested in a project w.r.t. the IEC62443 part if not already iitiated.

[destogl]

HI @fkromer, thanks for the references. We are currently very working mostly on the basic structure to provide easier use than ros_control in ROS1. Nevertheless, this is a very good point. We will add this to our agenda for the next meeting and discuss it. Do you have any experince with this norms? Maybe you could joint the meeting and explain/present your ideas?

[fkromer]

Hi @destogl the IEC62443 part relates to https://discourse.ros.org/t/functional-safety-design-patterns/6364 and https://discourse.ros.org/t/functional-safety-design-packages/6451 cause IEC61443 builts on top of IEC61508. Despite of these hints I'm not able to give more info and invest more time. At work we are far from using a PLC ATM so I'm not allowed to invest more time into here.