Manipulation WG - Friday 3rd of May, 17:00 CET (9AM PDT, 1AM JST)

[vmayoral]

Minutes available here. Find below a summary of the last session:

ROS 2 Manipulation WG Meeting Minutes: 3 May 2019

• Attendees:

  • Alejandro (Acutronic Robotics)
  • Lander (Acutronic Robotics)
  • Anas (Acutronic Robotics)
  • Ibai (Acutronic Robotics)
  • Igor (Acutronic Robotics)
  • Mike (PickNik)
  • Henning (PickNik)

• Discussion:

  • Welcome and introductions

  • MoveIt 2, status of the port

    • Code http://github.com/acutronicrobotics/moveit2
    • CI https://github.com/acutronicrobotics/moveit_ci
      • OS X
      • Linux
    • Target platform of development: MARA
      • Install instructions
        • Ubuntu
        • OS X

  • MoveIt 2 update and contributions

    • Acutronic Robotics
      • Description of the first demonstrator targeted
        • should be ready in the coming weeks
      • moveit_ros is in progress (moveit_kinematics)
      • tf2 needs further work
      • moveit_kinematics
        • KDL issues, asked for support
      • CI
        • some conflicts in OS X after recent commits, needs further work
        • integrate rosdep into the build system (currently avoiding it due to documented issues)
        • built from ROS-Industrial CI fork from ros-planning, diverged to accelerate development
      • Unit tests
        • variety of related packages required unit tests ported, see https://github.com/AcutronicRobotics/moveit2/blob/master/moveit2.repos
        • Trying to get ROS 2 core modifications upstream (e.g. https://github.com/ros2/geometry2/pull/93 or https://github.com/ros2/geometry2/pull/90)
    • PickNik (funded by Acutronic Robotics)
      • Supporting with community integration
      • Trying to reproduce existing work, unsuccessful so far

  • Other topics

    • Hardware CI
      • Discuss ideas about using HTC Vive sensors to create a hardware setup that allows to bring CI to hardware
    • Real-time motion planners
      • Discussion about existing solutions (RTR)
      • Discussion about new opportunities A real-time motion planner?
    • ROSCon workshop
      • Some interest raised, to be further discussed in the next call
    • Requests

      • (PickNik) Improve the reproduction of existing work

      • (Acutronic Robotics) Currently proposes three avenues for reproducing work:

        • Installation instructions (OS X and Linux)
        • CI fork

        will review things and try to simplify

  • Next meeting: To be planned