MoveIt Manipulation WG Meeting - August 26th

MoveIt
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The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be August 26th at 8am PST .

Your time zone: 2021-08-26T15:00:00Z

Agenda:

  • Old business
  • Report by CaptainYoshi on their GSoC project outcome (including pictures)
  • MoveIt 2 branches, syncing strategy (Tyler)
  • MoveIt Config Redesign Milestone (Henning)
    • Launch files: MoveIt config builder (Jafar)
    • ParameterSet API Status Update (Tyler)
  • Use TOTG as default, deprecate old algorithms, Ruckig (Andy)
  • Bumping version numbers right after releases [git version same as last release? (v4hn)
  • Do we want braces-initialization in the code base? (v4hn)
    • (imho: Yes please!) It’s not used at all though until now except for the pilz planner. Should we allow pull-requests to just migrate the parts they touch anyway or should we enforce whole files/packages are migrated at a time?
  • GitHub Actions + Dockerhub Support (Robert)
  • Throw exceptions or use abseil StausOr for core API functions

Please request any agenda topics you would like included.

Meeting ID

meet.google.com/fpo-srqg-feg

Phone Numbers (US)

+1 347-486-5750

PIN: 644 991 049#

1 Like
2

Some more additions:

  • Report by CaptainYoshi on their GSoC project outcome (including pictures)
  • bumping version numbers right after releases git version same as last release? · Issue #2831 · ros-planning/moveit · GitHub
  • Do we want braces-initialization in the code base? (imho: Yes please!) It’s not used at all though until now except for the pilz planner. Should we allow pull-requests to just migrate the parts they touch anyway or should we enforce whole files/packages are migrated at a time?
3

Robert Haschke asked me to add the following to the agenda:

I would like to bring up some points on github actions. Vatan and I have worked recently on building our CI docker images on GHA.

4

Thanks, I added all topics to the agenda!

5

Meeting Notes – 26 August 2021

  • Google Summer of Code Presentation (David aka CaptainYoshi)
  • Branching off For Foxy and Sync Strategies (Henning):
    • We may consider a backport-bot for syncing main moveit2 and foxy
    • We could consider cherry picking commits instead of merge but what if cherry pick fails (Robert)
    • We are currently handling every PR one by one in MoveIt which seems to work well.
  • MSA Port (Henning):
  • Version Number Update After Releasing (Michael)
    • Robert: We should stick to bloom release cycle.
    • Tyler: We currently don’t follow our standards on MoveIt website, so we need to update the docs to follow these standards if needed.
    • Decision: We will carry on the current way of versioning and releases, but update the docs so we are compatible with our documentation.
  • Do we want braces-initialization in the code base? (Michael)
    • Robert: We should not do / enforce it manually, if clang can enforce it we can consider.
    • Michael: should we try to enforce / do it from now on?
    • We should not care too much about this, and don’t enforce it. If there is a comment from a reviewer about brace initialization that’s OK.
  • Where to push docker images? (Robert and Vatan):
    • With recent changes we migrated to build dockers in Github Actions rather than Dockerhub.
    • There is no much difference between where to host images (Dockerhub vs GHCR), especially with the new pro plan on Dockerhub we don’t hit pull limit problems either.
      Decided to push both GHCR and Dockerhub. Potentially docs will show Dockerhub images, but Github Actions can use GHCR images.
  • Cool Project (Felix):
    • We have a very cool project that can plan and check safety with a multi robot arm configuration at the same time that is almost done.
    • Got all the permissions for release and should be releasing it soon.
  • Felix is stepping down as a maintainer in two months.