MoveIt Manipulation WG Meeting - July 22nd

Henning_Kayser · 2021-07-08T20:44:38.942Z

The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be July 22nd at 8am PST.

Your time zone: 2021-07-22T15:00:00Z

Agenda:

Old business
Release updates / blockers (Tyler)
MoveIt 2.2 (Foxy, Galactic, Rolling), Roadmap (Henning)
Hybrid Planning Update (Sebastian/Henning)
< your topic >
…

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#

gautz · 2021-07-20T15:48:38.873Z

I’d like to talk briefly about Cartesian Paths related PRs

https://github.com/ros-planning/moveit/pull/2674
https://github.com/ros-planning/moveit/pull/2273
And the opportunity an approach to create a ROS(-Industrial) working group around Cartesian manufacturing processes. (InstitutMaupertuis / ros_additive_manufacturing · GitLab, GitHub - Levi-Armstrong/tesseract_ros_workcell, ROS for robotic welding & Hybrid planning for MoveIt2 - YouTube)

JeroenDM · 2021-07-21T13:00:42.221Z

gautz:

I’d like to talk briefly about Cartesian Paths related PRs

https://github.com/ros-planning/moveit/pull/2674

https://github.com/ros-planning/moveit/pull/2273

I’ll try to join the meeting for input on #2273, I might be late (getting my second vaccine!). I think this can be merged rather quickly as it should not influence existing functionality (hope CI agrees ) and we can fix issues when it’s actually used.
I consider it a prerequisite to start the PR for planning with orientation constraints, which is (kind of) ready and is waiting in the pipeline. (Note, this is all MoveIt 1 specific.) Thanks for your work on it!

lior.lustgarten · 2021-07-22T07:46:35.152Z

Could we discuss the Windows fixes by Ace314159:

github.com/ros-planning/moveit2

Fixes for Windows

ros-planning:main ← Ace314159:main

opened 05:02AM - 01 Jul 21 UTC

Ace314159

+165 -49

### Description With this PR, MoveIt2 builds on Windows, and I'm able to use …it for some basic planning. Here's a summary of all the changes: 1. Since there is no pkg-config on Windows, I had to find `FCL` and `Bullet` using find_package. Using vcpkg, the name for FCL is FCL instead of LIBFCL, so I also had to modify it to get it to work with that. 2. Because static variables are not exported by the global export I had to add manual visibility control to these libraries: - `moveit_collision_detection` - `moveit_collision_detection_fcl` - `moveit_collision_detection_bullet` - `moveit_kinematics_base` - `moveit_planning_scene` - `moveit_mesh_filter` - `moveit_planning_scene_monitor` - `moveit_warehouse` - `moveit_planning_pipeline` - `moveit_trajectory_execution_manager` - `moveit_move_group_interface` - `moveit_ros_robot_interaction` - `moveit_planning_scene_rviz_plugin` 3. The `zlib` component for boost is no longer required for `iostreams` 4. RDF loader uses `popen` and `pclose`, but the Windows equivalents are `_popen` and `_pclose` 5. MoveIt ROS warehouse connector uses `fork` and `kill`, but there's no equivalent `fork` and `kill` on Windows (as far as I'm aware), so I just disabled it on Windows and log an error when it's used 6. Windows adds some extra defines like `near`, `far`, and `max` that are used as variable names. Using `undef` fixes these errors. Also, `uint` doesn't work on MSVC, so I replaced that to `unsigned int` 7. `BenchmarkExecutor` does include `winsock2.h` on Windows, but it also needs to link with `ws2_32.lib` to build 8. In collision detection fcl and bullet, the tests are built with some compiler flags (`-Wno-deprecated-declarations`) that don't work on Windows, so I didn't add those flags on Windows. 9. I had to add a couple of includes (`deque` and `boost/bind.hpp`) in some places to get some things to compile 10. I changed the include from `pluginlib/class_list_macros.h` to `pluginlib/class_list_macros.hpp` in a couple of places to fix the deprecation warning. The warning would actually cause it to not compile because `#warning` isn't supported on MSVC and that causes a compile error There are also some of MoveIt2's dependencies that have PRs that need to be merged in order for MoveIt2 to build and completely work on Windows: - https://github.com/ros2/rviz/pull/718 - https://github.com/ros2/geometry2/pull/434 - https://github.com/ros-controls/ros2_control/pull/443 - https://github.com/ros-perception/vision_opencv/pull/390 I know #238 already exists with some fixes for windows, but it is out of date and doesn't have all of the fixes this PR has. ### Checklist - [x] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code) - [ ] Extend the tutorials / documentation [reference](http://moveit.ros.org/documentation/contributing/) - [ ] Document API changes relevant to the user in the [MIGRATION.md](https://github.com/ros-planning/moveit/blob/master/MIGRATION.md) notes - [ ] Create tests, which fail without this PR [reference](https://ros-planning.github.io/moveit_tutorials/doc/tests/tests_tutorial.html) - [ ] Include a screenshot if changing a GUI - [ ] While waiting for someone to review your request, please help review [another open pull request](https://github.com/ros-planning/moveit/pulls) to support the maintainers [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!"

Symbols visibility headers are now autogenerated as requested.

Henning_Kayser · 2021-07-31T00:54:47.555Z

Meeting Notes - 22 July 2021

Release Updates (Henning):

Release for Foxy, Galactic and Rolling is done!
Next release will be September 10

Starting the MSA Port (Henning):

Most difficult work will be redesigning the launch files
Design should be discussed under Rethinking the layout of MoveIt Setup Assistant · Issue #449 · ros-planning/moveit2 · GitHub
Looking for contributors to help with the port or additional features
David: We can have a sort of pluginlib system for MSA

Hybrid Planning (Sebastian):

We have a working demo and open PRs to review
Working with Fraunhofer IPA for a welding demo
A tutorial PR has been filed to moveit2_tutorials
Henning: Merge will be done after the welding demo is complete with Fraunhofer, which would work as a proof of concept and help debugging and improving the architecture

OMPL Orientation Constraints PR (Gauthier):

Felix: In favor of merging it but we need to backport it
Discussion about merging the MoveIt 1 PR: MoveIt and MoveIt 2 codebases should be almost the same except the launch file and ROS / ROS2 differences
Gauthier: Working on the PRs locally
Should discuss further in the next standup

Cartesian Scaling PR (Gauthier):

Pilz can set the scaling and speed, but there is no direct way of doing it
Henning: This is useful, but we would need extra parametrization

Pilz Dependency Issues:

No updates
Prerelease is still broken

Windows Port (Lior):

Akash’s PR is tested and runs without any problems: Fixes for Windows by Ace314159 · Pull Request #530 · ros-planning/moveit2 · GitHub
We changed the visibility headers to use auto generated ones
PRs are ready for review and standing for some time:
Henning: We need a Windows maintainer for MoveIt and MoveIt 2
- Lior: I am interested in contributing and maintaining.
- After Micheal and Robert’s approval and opinions we can move on
Tyler: Need of CI in Windows, and somebody to maintain / fix problems with PRs breaking Windows
Windows Fixup PR will be reviewed by a few volunteers with Windows machines
Lior, on CI: ROS2 and MoveIt 2 is trivial to test and run on Windows, and open to help

MacOS Support:

Painful: Tier 3 Support and have to build ROS2 from source
Mark can test things if needed, difficult to ensure stable versions for now

GSoC Updates (Felix):

David (Captain Yoshi) couldn’t make into this meeting but have a nice presentation to show in the next meeting

Continuing MoveIt 2 Foxy support (Tyler):

Some headers are deprecated
We won’t be able to compile the same code on Foxy and Rolling as soon as there is a sync on Rolling, as some headers are removed
Will be branching off for Foxy pretty soon

Teaser: Multi-arm manipulation (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
Can’t release right now. The code needs to be disentangled from the project
Let me know if anyone is interested to talk about the project