Manipulation WG - May 17, 2019 17:00 CET (9AM PDT, 1AM JST)

[vmayoral]

Minutes from the meeting held last week:

May 17, 2019 17:00 CET (9AM PDT, 1AM JST) - ROS 2 Manipulation WG Meeting minutes

• Attendees:

  • Mike Lautman
  • Lander Usategui San Juan
  • Anas Mchichou El Harrak
  • Alejandro Hernández Cordero
  • Víctor Mayoral Vilches
  • Dave Coleman
  • Matthew K Hansen

• Discussion:

  • Welcome and intros
  • MoveIt 2, status of the port
    • GitHub - AcutronicRobotics/moveit2: The MoveIt 2 Motion Planning Framework for ROS 2.0
  • MoveIt 2 update and contributions
    • Acutronic Robotics
      • Quality Assurance
        • Unit tests ported for base packages in moveit_core and a subset necessary for a minimum example
          • Sync with moveit2 upstream - for now moveit_core
          • Rest available in the fork GitHub - AcutronicRobotics/moveit2: The MoveIt 2 Motion Planning Framework for ROS 2.0
        • built on top of moveit_ci, finalized the ROS 2 port and adapted for moveit2
          • https://github.com/ros-planning/moveit_ci/pull/56
          • Mike will have a look to Acutronic Robotics ci, and he will try to align visions
        • Allocated efforts to facilitate reproducing existing work @ GitHub - AcutronicRobotics/moveit2: The MoveIt 2 Motion Planning Framework for ROS 2.0
      • Demonstrator Minimal proof of concept by ahcorde · Pull Request #71 · AcutronicRobotics/moveit2 · GitHub
        • talked about difficulties compiling the setup. Problems compiling messages, actions or services with the same names in different packages. Specially control_msgs Generated header guards collide · Issue #30 · ros2/rosidl_typesupport_opensplice · GitHub
      • New packages ported including its unit tests
        • see GitHub - AcutronicRobotics/moveit2: The MoveIt 2 Motion Planning Framework for ROS 2.0 for a complete update
  • Other topics
    • ROS 2 Manipulation Workshop
      • Víctor proposed a Manipulation Workshop during ROSCon. Everyone agreed about it and PickNik showed will to contribute
      • Dave and Victor will follow up with this
      • PickNik considering to do a Moveit day
    • MoveIt 2 (vs MoveIt!) demonstrators?
      • Things that ROS 2 enables and that weren’t possible with MoveIt!, poll the maintainers and experts
        • Víctor to follow up with Dave on this
    • Sync with other WGs
      • Real-time assessment of moveit code?
        • Security is an interesting topic for companies like Acutronic Robotics using the MoveIt stack on industrial scenarios. Security validation is relevant.
        • Dave showed concerns about such assessment in MoveIt 2 given its maturity
        • Víctor agreed and emphasized that the initial security assessment should happen in MoveIt 1.0
        • A follow up discussion should happen in the next security meeting
      • Real-time is also a topic of interest, to bring up this topic in the corresponding working group in the upcoming meeting A real-time motion planner? - #5 by hooman
    • Next goals, community and re-alignment
      • Sync is a pending item, pushed for upcoming weeks
        • Sync with moveit upstream
        • Sync with moveit2 upstream
      • Tutorials and documentation are also a pending item, to review again once the port is more mature
      • Dashing release?
        • Matt suggested to make a release of the existing work to engage with the community. He argued that having some sort of debian files would help the community reproduce the existing work and engage with developers
          • Víctor clarified that debian files wouldn’t make sense with the current status of the port but showed openness to consider a pre-release with some additional documentation
        • Víctor clarified that Acutronic Robotics has fulfilled all its goals with regard MoveIt! as in the original objectives defined at
          • ROS 2 Dashing Diademata · Issue #607 · ros2/ros2 · GitHub or
          • Versioning Roadmap: MoveIt! 1.0 Release Plan - #2 by vmayoral
        • Dave commented that the MoveIt! community may be expecting a more finalized version of the port as communicated at https://moveit.ros.org/
          • Víctor argued that this was a miscommunication issue and beyond Acutronic Robotics’ control
        • Víctor and Dave to devise a strategy on how proceed for Dashing
      • Dave shared a few words of appreciation about the commitment of Acutronic Robotics towards the port
      • Víctor thanked PickNik for their support with the community and informed that Acutronic Robotics plans to continue contributing and allocate additional person-months to continue pushing forward the MoveIt 2 port
  • Next meeting
    • Acutronic robotics will create a meeting in the following 2 weeks

You can follow the progress from previous meetings at ROS 2 Manipulation WG Minutes - Google Docs

The next meeting is being organized at Manipulation WG - Friday 31st of May, 17:00 CET (9AM PDT, 1AM JST).