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Time of arrival of the MoveGroups API in Moveit2


we are two master students writing our master thesis on robotized assembly using the ABB YuMi and 3D vision via the Zivid 3D camera. We are integrating our system using ROS2, and are using the Moveit2 beta for motion planning. Currently we are wrapping the moveit_cpp API into a ROS2 component for convenience.

We would however prefer to use the MoveGroup API, which is currently unavailable. We have understood that this APi is currently being ported. If anyone here are involved in the porting, could you provide a rough guesstimate of when the API will be finished and released on the Moveit2 github?

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Unfortunately due to lack of resources / funding, we currently do not have a timeline for the continuation of this port. Would you be interested in porting some of these components?

That’s unfortunate. Have further porting of the rest of Moveit also ceased?

Unfortunately we have a quite strict timeline for our project, and cannot dedicate the time required to complete a port.