Agenda
- Releasing MoveIt! 1.0 and master branch
- MoveIt 2.0 - Milestones
- Acutronic’s sponsorship (Victor)
- General migration logistics
- Logging in ROS 2
- Finalizing changes to moveit_msgs - add seed trajectories to MotionPlanRequest
- Clang-Tidy strategy (Bryce / Yu)
- Auto-assigning reviewers to new PRs
- Tesseract-related Collision Checking improvements as discussed at ROSCon with SwRI
- moveit_grasps
- maintainer email list
Attendees
- Dave Coleman
- Robert Haschke
- Víctor Mayoral Vilches
- Jorge Nicho
- Mike Lautman
- Gijs van der Hoorn
- Bryce Willey
- Nathan Brooks
- Andy McEvory
- Yu Yan
- Simon Schmeißer
- Rob Coleman
Discussion
Notes taken by @vmayoral :
- Welcome/intro from developers
- Discussion about some issues with MoveIt! 1.0 regarding an upcoming release,
- Discussion about MoveIt! 2
- Víctor hopes to get moveit_core ported in OS X and Ubuntu by the end of this week
- Important to keep the existing CI infrastructure
- Iterating on small spirals for now, making sure submodules compile
- Logging being discussed at https://github.com/ros-planning/moveit2/issues/21. Input is welcome
- Dave asked if developers had comments about our approach
- Discussed the compatibility between moveit and moveit2, eventually we’ll diverge due to some changes
- (personal comment) it’ll help a lot getting some additional insight on those changes so that we all can help
- Dave shared his insights about maintaining compatibility by making active use of ROS bridges.
- Víctor shared that approach already works fine and has been used by their team for a while
- Discussion about moveit_msgs
- Having a faster response time to PRs was discussed. Assigned PRs by categories/expertise to reduce the level of noise and allow maintainers to focus
- https://github.com/ros-planning/moveit/pull/1367
- Dave will make an initial proposal
- Tesseract-related collision checking into moveit discussion
- Dave pointed out they want to keep themselves independent to evolve faster
- Ongoing work seems to be happening at https://github.com/ros-industrial-consortium/tesseract
- Mike working on https://github.com/PickNikRobotics/moveit_grasps, allows to generate grasp candidates
- for now working for cuboids
- aiming to merge it in the core moveit repo
- Robert mentioned that they’ve been working on a multi-gripper solution also backed by yaml files, he said that the community will have several options for grasp generations