# MoveIt Maintainer Meeting Nodes - June 27th, 2019

**URL:** <https://discourse.openrobotics.org/t/moveit-maintainer-meeting-nodes-june-27th-2019/9698>\
**Category:** Manipulation\
**Tags:** meeting\_notes\
**Created:** [June 27, 2019, 4:13pm UTC](https://discourse.openrobotics.org/t/moveit-maintainer-meeting-nodes-june-27th-2019/9698 "2019-06-27T16:13:10Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![brycew](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/brycew/32/3104_2.png) [@brycew](https://discourse.openrobotics.org/u/brycew)\
**Post date:** [June 27, 2019, 4:13pm UTC](https://discourse.openrobotics.org/t/moveit-maintainer-meeting-nodes-june-27th-2019/9698/1 "2019-06-27T16:13:10Z")

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# MoveIt Meeting Notes:

## Michael Gorner is back!

- He has a 2 month old son! Congrats!

## World MoveIt Day Locations:

- Discussed MoveIt Day Locations:
  - Tokyo - Felix
  - Boulder - PickNik
  - Boston - Ian McMahon and Bryce
  - San Antonio - Jorge Nicho and SWRI
  - Germany - Michael Gorner expressed interest, but would likely just be his lab.
  - San Fransico - Dave will work on it (+ Jon Binney)

- We’ve got a how to do World MoveIt Day (Note: don’t know where this document is, but Logistics under [World MoveIt Day 2018 | MoveIt](https://moveit.ros.org/events/world-moveit-day-2018/) is probably similar)

## GSOC Project Progress

- Jens:
  - Things are progressing, continuous collision checking via casting works. A [PR](https://github.com/ros-planning/moveit/pull/1504) is still in development, but will be open to the public soon (a few weeks)

- Omid:
  - Has been working on another project, but will progress with TrajOpt next week.

## MoveIt Example Apps

- Led by Intel China (Yu Yun in the rep on this call):
- MoveIt Example Apps repo exists ([GitHub - moveit/moveit\_example\_apps: Demonstrator applications for using MoveIt with full robotic setups](https://github.com/ros-planning/moveit_example_apps))
  - Handling dependencies for the CI will be difficult, timeouts are common
  - Each application can have it’s own docker image with prebuilt dependencies
    - Also open to other ideas, other contributions as well

- Will there be examples with real hardware?
  - Each application will gurantee working in simulation
  - Make some nodes in the application tutorial
  - Will make an initial PR soon

## Making a Kinetic/Melodic Release (Robert Haschke)

- Lots of commits on master, Robert has back ported some changes back to Melodic
- However, no one is really using Melodic, so we can’t confirm that it’s still operational and stable.
- But we still need to release so we can stop older bugs being brought up on the issue tracker.
- Robert will prepare a release, and has already cherry-picked bug fixes back to Melodic
  - We’ll also need a list of other commits that could go back

- PickNik has been considering taking on more often releases from Master, likely a PPA on top of ROS. It wouldn’t need it to include the rest of ROS, and should have a different debian package name.

## Benchmarking work: Henning Kayser

- Adding planning pipeline support for the benchmark packages, simplified without warehouse, simple similarity measure for traj on the same experiment (how repeatable it is).
- Contains all the different runs, can load different log files.
- Could extend the similarity metric to handle different scenes as well, even though it could completely change the final results
- A current [WIP PR](https://github.com/ros-planning/moveit/pull/1510) is out now, but reviewable PRs are coming next week.

## The MoveIt 2.0 Roadmap/Future Plans

- [MoveIt Roadmap 2019 - Google Sheets](https://docs.google.com/spreadsheets/d/1lyLJBkPqtwdDkBAJqNf5oTO0D1cjGrO6SVM-R0yf9cY/edit?usp=sharing)
- Are the state machines in MoveIt in the right place?
  - We don’t want to write our own state machines

- Why behavior trees vs state machines?
  - trees give you a higher level idea of what is happening
  - State machines are more event based, although trees can be as well
  - Behavior trees don’t allow simultaneous actions

- What do we get by adding state machines?
  - allows more complicated visualizers, but also just models logic better than manually include a bunch of if statements.

- Action hooks that send out events might become an interface, other libraries could hook into those with their own state machines.
- Fully Leverage ROS2
  - Components nodes = 0 copying messages, etc.
  - There are a lot of work and refactoring to be done to switch: is it worth the effort?
    - the interface still must be ROS msgs, no copying be possible serializing.
    - In general, C++ interfaces are easier to use, although ROS IDL might be easier to understand

  - In terms of Grant funding, ROS 2 is desired, so it’s one of the reason’s we’re looking into it

- Determinism and Improved Interfaces are the more aligned with what most contributors to MoveIt do.
- We should consider what our target users are (a few examples use cases), and what our design philosphy is
  - Look for a discourse post soon

## Misc

- Sean Yen from Microsoft, have been working with ROS for a while now.
  - They’ve made a Windows version of MoveIt, more coming in July.
  - They have a CI set up already, should be as easy as retargeting the repository.
  - We have Microsoft’s support for helping resolve Window’s specific issues, there will be conversations soon about if those issues should hold up PRs

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**Author:** ![ThiloZimmermann](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/thilozimmermann/32/6816_2.png) [@ThiloZimmermann](https://discourse.openrobotics.org/u/ThiloZimmermann)\
**Post date:** [June 27, 2019, 5:09pm UTC](https://discourse.openrobotics.org/t/moveit-maintainer-meeting-nodes-june-27th-2019/9698/2 "2019-06-27T17:09:41Z")

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> [@brycew](#):
>
> ## Michael Gorner is back!
> 
> - He has a 2 month old son! Congrats!

congratulations, @v4hn!

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**Author:** ![simonschmeisser](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/simonschmeisser/32/27_2.png) [@simonschmeisser](https://discourse.openrobotics.org/u/simonschmeisser)\
**Post date:** [June 28, 2019, 8:04am UTC](https://discourse.openrobotics.org/t/moveit-maintainer-meeting-nodes-june-27th-2019/9698/3 "2019-06-28T08:04:59Z")

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> [@brycew](#):
>
> - However, no one is really using Melodic, so we can’t confirm that it’s still operational and stable.

we use `melodic-devel` as it has all the features we currently need and is stable. In retrospect it was released at a very good point in time. Besides some random new python dependencies breaking our ci it seems to work very well. As we have a customn optimization in fcl 0.6 and updated `urdfdom` we don’t use the ROS packages however. I would appreciate not backporting too much stuff 🙂

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**Author:** ![ThiloZimmermann](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/thilozimmermann/32/6816_2.png) [@ThiloZimmermann](https://discourse.openrobotics.org/u/ThiloZimmermann)\
**Post date:** [July 9, 2019, 12:26pm UTC](https://discourse.openrobotics.org/t/moveit-maintainer-meeting-nodes-june-27th-2019/9698/4 "2019-07-09T12:26:48Z")

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> [@brycew](#):
>
> ## World MoveIt Day Locations:
> 
> - Discussed MoveIt Day Locations:
> - …
> 
> - We’ve got a how to do World MoveIt Day (Note: don’t know where this document is, but Logistics under [World MoveIt Day 2018 | MoveIt](https://moveit.ros.org/events/world-moveit-day-2018/) is probably similar)

any update on the actual date for World Moveit Day? I have a blocker in my calendar for sometime between Nov 19 - 21? But that would collide with our ROS-Industrial training at Fraunhofer IPA, so that we could not send one of our trainers to the planned event in Hamburg…  
[https://www.ipa.fraunhofer.de/en/Events/ros\_industrial\_training.html](https://www.ipa.fraunhofer.de/en/Events/ros_industrial_training.html)

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**Author:** ![davetcoleman](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/davetcoleman/32/1835_2.png) [@davetcoleman](https://discourse.openrobotics.org/u/davetcoleman)\
**Post date:** [July 15, 2019, 11:01pm UTC](https://discourse.openrobotics.org/t/moveit-maintainer-meeting-nodes-june-27th-2019/9698/5 "2019-07-15T23:01:02Z")

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World MoveIt Day was announced during our maintainer meeting a while back to be November 20th! We need to more publicly announce this, for sure.