Manipulation WG / MoveIt Maintainer Meeting - May 25

MoveIt
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The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be 2023-05-25T15:00:00Z.

Agenda

Meeting

Phone Numbers (US)

+1 347-486-5750

PIN: 644 991 049#

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  • New Release - MoveIt Iron
  • Tutorial reorganization (tylerjw)
    • Switch to using main branch of tutorials by default, supporting all major versions of ROS (Humble, Iron, Rolling)
      • Recommend building MoveIt from source so that everyone can get involved with OSS, lowering the barrier for contributing
      • We still provide binary packages from main for those that want to build applications with the most recent dependencies
      • With this change, we recommend using for example MoveIt 2 main + Humble instead of the humble branch
      • Multi-version is disabled, older distros are still deployed, though
    • A lot of these changes play into preparations for WMD 2023 (World MoveIt Day 2023 | PickNik) as well
      • Theme: Experiment with Python bindings
      • Setup: Run Isaac (Humble-only) + Python (MoveIt 2 main branch) + PyTorch in same setup
      • WMD stats: 130 sign-ups, multiple prices will be given to coolest projects
  • New clang-tidy rules (sjahr) - Add new clang-tidy style rules by sjahr · Pull Request #2177 · ros-planning/moveit2 · GitHub 1
  • STOMP now in MoveIt 2 main repo (henningkayser) -
    • Related to this effort, we are working on exposing cost-function support via the Plugin API, so that the same optimization objectives can be used with OMPL as well
    • Simon: Should we backport this to ROS 1? Henning: Implementation has many advantages (it’s leaner and easier to expand), but the biggest improvement would be to backport it along with the plugin API changes that are not ready yet
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