# MoveIt Manipulation WG Meeting - April 28th

**URL:** <https://discourse.openrobotics.org/t/moveit-manipulation-wg-meeting-april-28th/25229>\
**Category:** Manipulation\
**Created:** [April 24, 2022, 9:08pm UTC](https://discourse.openrobotics.org/t/moveit-manipulation-wg-meeting-april-28th/25229 "2022-04-24T21:08:06Z")\
**Posts on this page:** 3\
**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:** [April 24, 2022, 9:08pm UTC](https://discourse.openrobotics.org/t/moveit-manipulation-wg-meeting-april-28th/25229/1 "2022-04-24T21:08:06Z")

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The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be 2022-04-28T15:00:00Z.

**Agenda**

- Old Business
- MoveIt 2 Development update
- GSoC Proposals (Mark)
- WMD 2022 - May 26th (Henning)

Please request any agenda topics you would like included.

**Meeting**

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Phone Numbers (US)

+1 347-486-5750

PIN: 644 991 049#

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**Author:** ![schornakj](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/schornakj/32/6108_2.png) [@schornakj](https://discourse.openrobotics.org/u/schornakj)\
**Post date:** [April 28, 2022, 2:53pm UTC](https://discourse.openrobotics.org/t/moveit-manipulation-wg-meeting-april-28th/25229/2 "2022-04-28T14:53:46Z")

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Proposed agenda item: a brief discussion of the development strategy for MoveIt2 on ROS 2 Humble and Ubuntu 22.04 LTS.

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<div class="post-metadata">

**Author:** ![schornakj](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/schornakj/32/6108_2.png) [@schornakj](https://discourse.openrobotics.org/u/schornakj)\
**Post date:** [April 28, 2022, 4:11pm UTC](https://discourse.openrobotics.org/t/moveit-manipulation-wg-meeting-april-28th/25229/3 "2022-04-28T16:11:53Z")

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# 28 April, 2022 MoveIt Maintainer Meeting

## Agenda

MoveIt development update  
MSA  
Discussion about [deleting some functionality](https://github.com/ros-planning/moveit2/pull/1142) (contentious!)  
GSOC  
World MoveIt Day  
MoveIt2 on Humble

Old business:

- MoveIt CI blocking issue [reported by Robert](https://github.com/ros-planning/moveit/pull/3112#issuecomment-1102576550) – fixed yet?

## Notes

### MoveIt Development Update (Andy)

- Blocked by moveit\_config\_utils package.
  - Jafar: This is probably a dependency issue, will investigate some more

- Jafar will also take a look at [the issue Robert pointed out](https://github.com/ros-planning/moveit/pull/3112#issuecomment-1102576550).

### MoveIt Setup Assistant (David)

- Latest change to moveit\_launch\_utils let updated MSA come into main.

- Shouldn’t rely on MSA as the sole tool needed to get robot up and running.  
David asking for help from a subject matter expert about integrating with ros2\_control.

- Tyler made an example of a robot driver package that implements ros2\_control, which people who are developing robot drivers are finding really useful.

### Google Summer Of Code (Mark)

- Deadline passed for students to submit proposals. Looks like we’ll be able to fill our slots.

- Project mentors need to review applications and find good fits.

- Since we required that applicants have submitted a PR prior to applying, there are some PRs that partially implement the described projects (updating tutorials, for example).

- We’ll request 2 or 3 slots and hopefully get 2 or 3 participants.

### World MoveIt Day (Henning)

- Tentatively planned for May 26th – imminent!

- Henning was waiting for feedback in case anyone has conflicts.

- Mark: we need to do a better job of publicizing this than we did for the MoveIt community day

- Date has been moved to **June 2nd**.

- Cassidy: Went to a Hello Robot community meeting recently. It was a nice event, and we could use it as inspiration for how we structure our events.

### Deleting Code (Michael)

- Michael’s perspective:

- Nathan: The code in question does introduce a maintenance burden. Need to update all plugins to add new features.

- Michael: We could make changes to the API to reduce the amount of work needed here and improve compatibility across plugins.

- Henning: We should not remove functioning code.

- Mark: Brittle code could live on as a separate demo.

- Michael: Let’s talk about this more in the appropriate issue/PR topics.

- Mark: In general, there isn’t a one-size-fits-all solution

### MoveIt2 Humble Development Strategy Question (Joe)

- Henning: Humble will be supported on the main branch. We’ll support Humble until the next LTS release. There will be a stable Humble branch that does not include breaking API changes.

- Tyler: One problem with targeting Rolling on the main branch is that when I-ROS comes out (next intermediate release), we probably can’t maintain compatibility with Humble.

- Nathan: We’ll backport bugfixes with mergify.

- Henning: Our exact strategy here is still an ongoing topic of discussion

- Nathan: We’re also talking about maintaining a Rolling snapshot repo to mitigate the impact of regressions in the upstream Rolling release.

- Tyler: As soon as we have a Humble release, there will be a Humble branch. The motivation for this is mostly supporting the release process.

- Michael: Open question: will we start `#ifdef`-ing code to support diverging APIs?

## Attendees

Abishalini Sivaraman  
Andy Zelenak  
Cassidy Elliott  
Chris Thrasher  
Cory Crean  
David Lu!!  
Davide Falconti  
Henning Kayser  
Jack Center  
Jafar Abdi  
Joe Schornak  
Mark Moll  
Marq Rasmussen  
Michael Gorner (v4hn)  
Nathan Brooks  
Sebastian Jahr  
Sencer Yazici  
Tyler Weaver