MoveIt Maintainer Meeting - July 28

[tylerjw]

The next MoveIt Maintainer Meeting, aka The Manipulation Working Group is 2022-07-28T15:00:00Z

• MoveIt 2.5.2 release for Humble / Rolling
• [Wyatt] Servo with bio_ik
• [Peter] Python bindings
• [Paul] Admittance Control
• [Paul / Tyler] Generate Parameter Library

Please respond with items you’d like added to the agenda.

MoveIt Maintainer Meeting
Thursday, July 28 · 9:00 – 10:00am
Google Meet joining info
Video call link: https://meet.google.com/fpo-srqg-feg
Or dial: ‪(US) +1 347-486-5750‬ PIN: ‪644 991 049‬#

[simonschmeisser]

For the Trajectory Execution GSoC we would like to know if anybody vetos removing the pushAndExecute code path in MoveIt 1 which seems broken and unused.

PR Clean up TrajectoryExecutionManager API: remove unused code by cambel · Pull Request #3178 · moveit/moveit · GitHub

It would be replaced in further PRs by extending the capabilities of push() and execute()

[v4hn]

• [Cristian] Modes for Trajectory Execution & Parallel execution

• [v4hn,rhaschke,mamoll] Removing ConstraintSampler::project (see here)

[Henning_Kayser]

Notes

• MoveIt 2.5.2 bloomed for Humble / Rolling
  • MSA and much more
• [Wyatt] Servo with bio_ik
  • Servo now has support for running IK solvers instead of the basic Jacobian
  • bio_ik can be used for generating more robust solutions, especially in hard to navigate sections near singularities
  • Q by Henning: where should bio_ik be maintained in the future (ROS 2 fork is currently in PickNikRobotics) → v4hn: feel free to fork into ros-planning or PickNikRobotics and maintain it moving forward
  • Servo Configuration: Realtime Servo — MoveIt Documentation: Rolling documentation
  • Cost function tutorial: https://github.com/ros-planning/moveit2_tutorials/pull/462
• [Peter] Python bindings
  • MoveIt fork including Python bindings: GitHub - peterdavidfagan/moveit2 at moveit_py
  • Example: GitHub - peterdavidfagan/moveit_py_example: A ROS2 package demonstrating use cases of moveit_py.
  • Includes modules for basic planning and execution: MoveItCpp, PlanningComponent, RobotModel, RobotState
  • Note by Peter Mitrano: There are still WIP Python bindings PR for MoveIt 1 which are blocked by issues with docs generation. new moveit_core python documentation · Issue #2606 · moveit/moveit · GitHub
• [Cristian] Modes for Trajectory Execution & Parallel execution
  • Proposal: Remove TrajectoryExecutionManager::pushAndExecute() Clean up TrajectoryExecutionManager API: remove unused code by cambel · Pull Request #3178 · moveit/moveit · GitHub
  • There are now two alternative use cases for the new execution feature:
    1. Executing trajectories from two arms at the same time
    2. Executing a trajectory after the path has become collision free
• [Paul] Admittance Control
  • Implemented using ros2_control chainable controller interface
  • New ros2_control package for computing end-effector kinematics controls
  • Allows reacting to forces during controls while supporting gravity compensation
  • Separate Compliance and Stiffness parameters
  • Q Christian Beltran: ROS 1 Support? → Paul: not supported and not planned, but backporting should be possible with some effort
  • Q v4hn: What happens with growing distance to reference trajectory? → Paul: Depends on damping, but blocked motions will continue to directly move to reference points when released.
• [Paul / Tyler] Generate Parameter Library
  • New framework for making ROS 2 parameters easier to use
  • Declarative yaml file for defining parameters, the library will then generate a C++ struct that implements all the parameter boilerplate code
  • Supports type checks and custom validator functions

Attendees

• Tyler
• Henning
• Vatan
• Wyatt
• Paul
• Cassidy
• Marq
• Joe
• Cory
• Christian Beltran
• Michael Ferguson
• Peter David Fagan
• Simon Schmeisser
• Peter Mitrano
• Noah Wardlow
• Michael Görner
• Jafar
• Noah
• Nathan