Hi MoveIt Community,
my name is Sebastian and I am highly interested in contributing to MoveIt! as part of GSoC this summer. I am studying the Master of Mechatronics and Information Technology at the Karlsruhe Institute of Technology in Germany. My field of specialization is robotics.
On the MoveIt project website I saw two open future projects that draw my interest:
- Improved Integration with ROS-Controls and Controller Switching
- Add Support for MoveIt Task Constructor to MoveIt 2
I’d like to ask where I can get further information on both? Or what would be the appropriate way to discuss these tasks in more detail?
Furthermore, I am very interested in closed-loop control related topics. I saw on the MoveIt website at the road map for MoveIt2 that there are plans to integrate “reactive, closed-loop control” as part of the realtime support milestone.
Is there a chance to do some work on that topic as a GSoC project? I have seen that there is currently some activity in the ros2_control project and I would be interested for example in working on the implementation of an interface between ros2_control and MoveIt2. Do you guys know if that could be a possible project and if there are any mentors interested?
Thanks in advance for your help!