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MoveIt! Maintainer Meeting Recap - July 25th, 2018


#1

Agenda

  • Status of ROS Melodic
  • Building Melodic on Kinetic
  • Progress with GSoC students
  • World MoveIt! Day Planning
  • New OMPL interfaces
  • Potential Intel collaborations
  • Switching to reoccurring monthly meeting of shorter length

Attendance

  • Michael ‘v4hn’ Görner
  • Isaac IY Saito
  • Jorge Nicho
  • Dave Coleman
  • Ian McMahon
  • Gijs van der Hoorn
  • Mike Lautman
  • Zack Kingston
  • Will Baker
  • Nathan Brooks
  • Matthew K Hansen
  • Mark Moll
  • Andy McEvoy
  • Sharron Liu

Summary

1 - Introductions

  • Matthew K Hansen from Intel
  • Zack Kingston from RICE’s Kavraki robotics lab
    • Works in MoveIt!, Robonaut 2.0
  • Will Baker from Houson Mechatronics
    • Worked on MoveIt! with Robonaut
  • Nathan Brooks from Picknik

2 - ROS Melodic

  • MoveIt! migration PR still un-reviewed
  • Most users still on kinetic
  • No robot drivers, many packages still behind
  • API changes in Melodic, pluginlib, TF2(ABI changes) , etc., make it incompatible with ROS- Kinetic. These changes bring ROS Melodic closer to ROS 2.0.

3 – GsOC

  • Michael Görner update:
    • Pull Request on grasping, grasp generation and tutorial.
    • Fixes to MoveIt Grasp Package
    • Detect Object button in Rviz being examined for possible fixes; it currently does nothing.
  • Andy McEvoy update:
    • Mentoring student Mohamed.
    • Working on new features for the Setup Assistant that work with Gazebo and add improved visualization
    • ROS Control Integration in progress.
    • Grasping screen, not much progress.
  • Mark Moll update:
    • Working on improving CHOMP and STOMP
    • CHOMP’s original implementation is very brittle.
    • MoveiIt! Website now has tutorials on how to setup those planners.
    • CHOMP Author claims that planner has lots of downsides, especially when dealing with obstacles.
    • STOMP optimization framework is very promising, needs repository maintainers to be more responsive.
    • Collision refactoring issue is being addressed, a PR has been created.
    • More participation from industrial_move maintainers, add new admins to keep development from stagnating.

4 – New OMPL interfaces

  • OMPL planner plugin refactoring allows new and existing planner implementation to load their own configuration, allows selecting planner types (joint planner, Cartesian planner) and reuse of configuration spaces.
  • Big internal API change, for external user it should look the same; behavior effectively remains unchanged.
  • Perhaps integrate into melodic?
  • Pull Request is being broken down into smaller PRs.
  • State Space discontinuity has been a long standing issue.

5 – Intel

  • Matthew K Hansen and Sharron Liu
  • Focus in enabling ROS 2.0 for industrial applications. Looking into enabling MoveIt in ROS 2.0
  • ROS2 Grasp Library Presentation:
    • MoveIt Plugin
    • Prototyped GQCNN (originally trained with Tensorflow) grasp method with Interl OpenVINO, 93% success rate was achieved. Original implementation has UCB license (not-for-profit) so it cannot be used for commercial purposes.
    • Grasp Library Proposal, trained with caffe and RGBD image data.
    • Alternatives to TensorFlow or Caffe Can is OpenVINO which provides hardware acceleration benefits.
    • Goal is to create a ROS 2.0 Grasp Library with the option to enable OpenVIN. A demo with the UR5 robot that works with MoveIt! will be created and documented

6 – World MoveIt! Day

  • Planned for October 25th
  • Lessons learned document from last year is available.
  • Not very well advertised. Official announcement soon to come.

7 – Monthly Meetings

  • Will start scheduling monthly meetings.