ROS Resources: Documentation | Support | Discussion Forum | Service Status | Q&A answers.ros.org

MoveIt! Maintainer Meeting Recap - February 28 2019

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
  • Tesseract-related collision checking into moveit discussion
  • 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
1 Like