- Beginning ROS 2.0 efforts - Ian
- Ending Jade support and forking for Lunar - Isaac
- World MoveIt! Day 2017 - Dave
- STOMP Cost Maps
- Generalize IK parameters
- OMPL Updates
- Agile Grasps
- New maintainers
- New MoveIt! website
- Michael ‘v4hn’ Görner
- Robert Haschke
- Isaac IY Saito
- Jorge Nicho
- G.A. vd. Hoorn
- Dave Coleman
- Ian McMahon
- Bence Magyar
- Jonathan Binney
- Mark Moll
- Robot representation file to be decided in the future.
- Communication layer
- ROS parameters no supported
- Action items
- Using the bridge as an initial step. Have verification from OSRF
- Separate branch to be created for changes related to ROS 2.0 transition
- Create new branch for large feature changes
- Freezing jade
- Continue cherry – picking into indigo, kinetic
World MoveIt! Day
- After ROS Con, maybe week after ICRA, tentative date 10th of October.
OMPL replacement interface (Mark Moll):
- Current Features
- Planning with Cost functions
- Existing Cost function framework in OMPL
- In progress features
- Hard Constraints (very specific)
- Framework will load new planners that adhere to the ompl interface.
- Current Features
STOMP Cost Maps (Bence):
- Too many Assumptions in both the MoveIt! and STOMP frameworks.
- Fixing start state is limiting.
- Bence to compile list of issues
- Parameters exposure is lacking
- Alternatives include using generic structure with downcasting or passing a function callback
MoveIt! Website face lift
- Setup a Bounty source account for funding this effort?
Agile Grasp Generator
- Integration in MoveIt! in progress
- No general perception tool in MoveIt! to supplement grasping functionality.
- Maintainers to look at PR list more frequently.
- Four eyes principle for merging unless change is insignificant (e.g. typos).
- Michael’s Remarks
- To help distinguish between “bottlenecked” and other requests, I just created a new tag “awaits 2nd review”. Now, if you open https://github.com/ros-planning/moveit/pulls you get friendly red highlights on some requests.
- Also please have a quick look at our maintainer side guidelines if you have not read them before:
Thanks to all the maintainers who attended the meeting!