[sjahr] Switch all ros2 branches from Humble to Rolling, to be consistent with other repos?
[marq] Concerns about ros2 branch not actually working in all distros.
[andyz] +1 on a rolling branch, since humble and rolling are no longer compatible in MoveIt2
[henning] Tutorial versioning with MoveItPy : Building API docs is linked to the distro, multiversion doesn’t work with multiple distros. Need to switch how tutorial versioning is done, but will take significant effort.
Key developers are not present, so will continue this offline.
[henning] Use of moveit2_resources in the main repo introduces a circular dependency chain since it’s a separate repo and we depend on it for tests.
[marq] Concerns about not testing vendor packages. But then we need to make sure that CI can also test other vendors’ packages. +1 [scastro, andyz]
[henning] If we go down our own robot route, we should have reasonable coverage of robot types (e.g. 6DOF vs 7DOF, moving base, mimic joints, etc.)
[andyz] Is this more important vs. other priorities, such as the GSoC projects? Seems like it would be a significant undertaking.
[scastro] Having our own robot model could open up the doors for us to have more tutorial content about actually setting up a MoveIt config from scratch.
Converging to:
Our custom robot should be used for TESTS, not for EXAMPLES
Need to unify what robot our tests use – right now, certain packages test with certain robots and it’s all “coincidental”
Still allow running tests for other vendor packages, just don’t require them. You can choose to run all MoveIt tests (not some) with alternative hardware.
Probably still want to use a UR and/or Panda in regular testing / examples
[tyler] Start with something simple: Can we put our Panda config in moveit2 repo?
There might be concerns about the licensing of those configs, but seems permissive enough – both for Panda and UR.
Doesn’t have to be part of the moveit metapackage, so when users apt install they don’t get the robot specific resources configs
[sjahr] Panda doesn’t even support ROS 2 – maybe worth switching to one that does, at least.
[tyler] Making our tests accept a configurable robot requires also parameterizing a lot of the unit tests.
[sjahr] Could also specify which tests can be run by which robots
[tyler] Should not take this on all at once! Should find ways to do it incrementally.
[henning] World MoveIt Day 2023
Doing a Python themed day
Goal: Inviting a broader community from e.g., the ML community, and also to stress-test the new bindings!
Targeting 2nd week of June (Thursday, June 8th)
Will prepare Docker images to help users get started
Also want to prepare a challenge / hackathon
If anyone wants to volunteer for planning / standing up this challenge, let me know
Showcase final demos from the best teams – would be nice to do it on hardware, but that may not be practical. Maybe simulation?
[henning] GSoC applications are now open : Mar 20 - Apr 4
If you know people, encourage them to apply
[andyz] When will Rolling CI be running again? Blocked on merging PRs
sensor_msgs issue still persists, probably a caching issue, may need to just wait for a new OR release but Henning will check