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MoveIt Manipulation WG Meeting - April 23rd

The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be April 23th at 8am PST

Your time zone: 2020-04-23T15:00:00Z


  • Old business
  • Move from rotation to Eigen / linear
  • New install page / Windows install
  • Update on the collision environment and Tesseract features
  • Releasing debians responsibilities
  • Pilz planner integration
  • Anything else…

Please request here any agenda topics you would like included.

Meeting ID

Phone Numbers
(‪US‬) ‪+1 347-486-5750‬
PIN: ‪644 991 049#‬


Another topic for discussion:
Possible standardization of suction gripper / suction array messages. This could help abstract away any differences between suction grippers.


Google has awarded us 2 slots for the Google Summer of Code. Unfortunately, we have more than 2 good proposals, so we have to make some hard decisions. We don’t have time to discuss all 20 proposals, but I can provide a quick summary of the top contenders.

Would it be possible to add these Google Meet details to the ROS Events calendar “Manipulation WG” recurring meeting?

The minutes of the meeting:

Participants: Andy Zelenak, Christian Henkel, colaed 11, Dave Coleman, Felix von Drigalski, Henning Kayser, Jens Petit, Jafar Abdi, Jere Liukkonen, Jeremy Adams, Jorge Nicho, Mark Moll, Marq Rasmussen, Michael / v4hn, Mike Lautman, Nathan Brooks, Omid Heidari, Rajendra Singh, Robert Haschke, Simon Schmeisser, Tyler Weaver

  • World MoveIt Day

    • Make it coincide with GSOC start date because it could help bring students up to speed
    • World MoveIt Day will be June 2nd
  • Next Melodic Debian release

    • We have a lack of ownership for this task
    • Robert will do the next Melodic release
    • Jafar to run pre-release tests without admin permissions (for now)
    • Michael / v4hn has a PR synchronizing melodic with the master branch link
    • We need extensive testing for melodic branch and users are asked to report issues they have observed
  • The PR switching to Eigen::Linear

    • PR Link
    • Eigen Linear is more efficient, it doesn’t use SVD, which isn’t needed if we already know it’s a proper rotation matrix
    • Upcoming Eigen release it can automatically do this by template specialization, but in bionic we will not have that
    • May affect some user codes if they have errors in their rotation matrices. These issues may be hard to debug.
    • Nearly everybody votes to merge the PR.
    • We should make an announcement on ROS Discourse.
    • This will be back-ported to Melodic, too.
  • New installation and people pages

    • We have a new version for installation and people pages
    • Windows and PickNik are working on a new Windows installation tutorial for MoveIt 1, coming soon
  • Update the collision environment with Tesseract features

    • No progress in calculating collision costs since last fall
    • Hopefully this summer it will be finished
    • Porting TrajOpt into MoveIt depends on this
  • Pilz planner integration

    • PR Link
    • Reviewed by Robert, Henning, and Dave
    • Almost ready for merging
    • There is some message redundancy with MoveIt Task Constructor. Can clean up in a future PR
    • Agreed to squash-merge it (All the commit history is in the old repo)
  • Standardization of suction gripper / suction array messages

    • Create a message similar to control_msgs/GripperCommand .?
    • Some ideas that it should have
      • Have standardized service interface for vacuum status and turn on vacuum
      • Have error codes
    • Might belong in control_msgs
    • A good starting point to look into ur_msgs/IOStates.msg
  • GSOC

    • We have number of strong candidates
    • We have two slots
1 Like

Thanks for putting this nicely up here.

Happy to incorporate into control_msgs.
Perhaps something you’d want for both ROS1 and ROS2?

Yes @bmagyar I would like them in both ROS1 & 2. I need to make a finalized document for everyone to review but will be sure to keep you in the loop. If you have any suggestions feel free to reach out!

1 Like