- New Release - MoveIt Iron
-
Tutorial reorganization (tylerjw)
- Switch to using
mainbranch 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
mainfor 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 thehumblebranch - 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
- Switch to using
- New clang-tidy rules (sjahr) - Add new clang-tidy style rules by sjahr · Pull Request #2177 · ros-planning/moveit2 · GitHub 1
- Related: clang-tidy doesn’t check full repo when changing the config, also job runtime is way too long (2h32m) Speed-up clang-tidy + test config changes · Issue #2205 · ros-planning/moveit2 · GitHub
-
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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