# Manipulation WG / MoveIt Maintainer Meeting - October 26

**URL:** <https://discourse.openrobotics.org/t/manipulation-wg-moveit-maintainer-meeting-october-26/33952>\
**Category:** Manipulation\
**Created:** [October 6, 2023, 4:59pm UTC](https://discourse.openrobotics.org/t/manipulation-wg-moveit-maintainer-meeting-october-26/33952 "2023-10-06T16:59:40Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Henning\_Kayser](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/henning_kayser/32/4605_2.png) [@Henning\_Kayser](https://discourse.openrobotics.org/u/Henning_Kayser)\
**Post date:** [October 6, 2023, 4:59pm UTC](https://discourse.openrobotics.org/t/manipulation-wg-moveit-maintainer-meeting-october-26/33952/1 "2023-10-06T16:59:40Z")

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The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be 2023-10-26T15:00:00Z.

**Agenda**

- better logging follow-up [Fix loggers to publish to /rosout · Issue #2376 · moveit/moveit2 · GitHub](https://github.com/ros-planning/moveit2/issues/2376) (Henning, Tyler)
- Tool Changing API (Sebastian Castro)
- Planning Adapters refactoring (Sebastian Jahr)
- MoveItCon discussion / feedback

**Meeting**

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<div class="post-metadata">

**Author:** ![Henning\_Kayser](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/henning_kayser/32/4605_2.png) [@Henning\_Kayser](https://discourse.openrobotics.org/u/Henning_Kayser)\
**Post date:** [November 16, 2023, 10:51pm UTC](https://discourse.openrobotics.org/t/manipulation-wg-moveit-maintainer-meeting-october-26/33952/2 "2023-11-16T22:51:55Z")

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Attendance:

- Abishalini Sivaraman
- Cassidy Elliott
- Chance Cardona
- Sebastian Castro
- Sebastian Jahr
- Marq Rasmussen
- Tyler Weaver
- Mario Prats
- Henning Kayser
- Nathan Brooks
- Paul Gesel

Agenda:

[Henning] Discussion of new logging changes

- Changes to get logging publishing to `/rosout`
- need to associate all loggers to node instances
- Tyler’s worked on PRs to implement this
- PR need reviews
- [Tyler] will write up a concept guide on logging changes that have been made, but no changes to API interface so shouldn’t need migration notes

[Sebastian C] Tool changing API

- We have some existing work from Jafar on tool changing: [GitHub - PickNikRobotics/tool\_changing: MoveGroup capability to dynamically change end-effectors](https://github.com/PickNikRobotics/tool_changing/)
- The way it works: have a Robot that already has many tools attached to it in its description, and then virtually adds/removes tools by changing the allowed collision matrix and what is visualized in rviz (visualization is currently broken though)
- [Nathan] Limitations:
  - Problem with how visualization updating in RViz works
  - Cannot currently update kinematic aspects online with this approach

- Want to be able to actually change the URDF during execution and
- [Marq]: need to be able to dynamically power up and power down interfaces like the robotiq gripper power&comms: will need to make ros2 control changes. May make more sense to just re-initialize MoveIt instance rather than making all the interfaces support some dynamic robot description change
- [Henning]: Is it MoveIt’s responsibility to support changing tools and providing a dynamic robot model? It has access to ros2 control interfaces so this should be feasible
- [Marq]: Yes, otherwise we’ll need an orchestrator on top of MoveIt
- [Sebastian C]: Use case: bi-manual task. one arm holds something (jaw gripper), one arm cuts. Need to swap cutting tool to make different cuts
- [Nathan, Henning, Tyler] Should have what tools we’ll be using be preconfigured.
- [Marq]: More layers of complication: configuring/calibrating tools accordingly once they are attached. This cannot be pre-configured
- [Nathan]: The current solution (Jafar’s) may still be able to solve Seb C’s application. Just assume an initial tool state once comms are attached
- Relevant issues:
  - [global dynamic robot\_description · Issue #615 · moveit/moveit2 · GitHub](https://github.com/ros-planning/moveit2/issues/615)
  - [Add ability to attach and detach end-effector links · Issue #208 · moveit/moveit2 · GitHub](https://github.com/ros-planning/moveit2/issues/208)

[SebastianJ]: Planning Adapter refactoring

- [Slides - design presentation](https://docs.google.com/presentation/d/1MunK9sUxYx5FTRQnZteFrsNkll1glbc6-7EWy4Ua-ws/edit#slide=id.g293b10ddb0b_0_75)
  - Looking for reviews on this work

- [Mario]: Who defines the planning pipeline?
- [SebastianJ]: defined in ompl yaml file at startup: [moveit\_resources/panda\_moveit\_config/config/ompl\_planning.yaml at pr-update\_pipeline\_planner\_configs · sjahr/moveit\_resources · GitHub](https://github.com/sjahr/moveit_resources/blob/pr-update_pipeline_planner_configs/panda_moveit_config/config/ompl_planning.yaml#L4-L10)
- [Henning]: Previously an adapter could be called both before and after planning, which was a feature, although it added a lot of complexity, but these changes limit that (now adapters can only be called either before or after)
- [Mario]: Could we close the loop here from the user perspective: ex. manually call RRT plugin, then call a STOMP plugin on the response in a C++ interface?
- [SebastianJ]: You could but it wouldn’t be convenient with the current infrastructure, the way things are setup it’s easier to create the entire vector of plugins
- [Marq]: Could be useful to have something that cold starts plugins and appends the changed solution to the responses, but this starts moving into MTC territory