- Kinematics Base API Rework
- MoveIt! 1.0 Release
- Policy for Contributors and Maintainers
- Clang-tidy Work
- Dave Coleman
- Jorge Nicho
- Robert Haschke
- Mike Lautman
- Jon Binnery
- Gijs van der Hoorn
- Michael Görner
- Zak Kingston
- Bryce Willey
- Nathan Brooks
- Felix von Drigalski
Kinematics Base API (Led by Robert Haschke)
- Technical side: Regression in Melodic: KDL IK doesn’t provide nice results
- Assumption: things are a little slower causing earlier timeouts
- The API for Kinematics isn’t satisfactory (Comments are in Issue https://github.com/ros-planning/moveit/issues/1285)
- Lots of cruft/redundancy
- General agreement that it needs to change
- However, it’s an old API, with lots of plugin users.
- Better documentation of the features are needed as well
- Several use cases:
- any IK solution, close or not
- closest as possible solutions
- Some IK plugins won’t support all of these options, maybe we expand the ability to check if a certain plugin has a certain feature
- Major users: Descarte
- Redundant Kinematic’s Base
- Major discussion: do we break user’ API unnecessarily?
MoveIt! 1.0 Release:
- ROS 2.0 is a giant API change
- Do we want to be able to have MoveIt! 1.0 and 2.0 on the same computer?
- Who do we optimize for: People using MoveIt! and want it to ‘just work’, and those who can handle breaking changes and update
- ROS 2 will be hard, it’s still missing a lot of features
- It does have actions and parameters, but no parameter server
- We will have 2 branches: master for ROS 1.0, and d***-devel for ROS 2.0
- Beta ROS 2 release in December, release next year
- Dave has been working getting resources to move to ROS 2.0, but the maintainers need to have a plan
- Issue: someone has to write a ROS 2.0 branch, but while it’s being written, there will be enough changes that they will have to catch up toWorkshop
- Other big projects that have done the ROS 2 switch:
- RViz: they did a hard fork for the new branch.
- If someone wants to split off a branch, try to make sure you can isolate as many components as you can. It will be work in development for a long time.
Policy for Contributors and Maintainers
- Main difference: recognizes “Core Contributors” who might not be Maintainers, but still have significant MoveIt! experience.
- recognized on the website, can put on CV, possibly could have Github tags for them so the community can recognize them.