The next Manipulation WG Meeting / MoveIt Maintainer Meeting will be July 22nd at 8am PST .
Your time zone: 2021-07-22T15:00:00Z
Agenda:
Old business
Release updates / blockers (Tyler)
MoveIt 2.2 (Foxy, Galactic, Rolling), Roadmap (Henning)
Hybrid Planning Update (Sebastian/Henning)
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Please request any agenda topics you would like included.
Meeting ID
meet.google.com/fpo-srqg-feg
Phone Numbers (US)
+1 347-486-5750
PIN: 644 991 049#
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gautz
July 20, 2021, 3:48pm
2
I’d like to talk briefly about Cartesian Paths related PRs
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I’ll try to join the meeting for input on #2273 , I might be late (getting my second vaccine!). I think this can be merged rather quickly as it should not influence existing functionality (hope CI agrees
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Could we discuss the Windows fixes by Ace314159:https://github.com/ros-planning/moveit2/pull/530
Symbols visibility headers are now autogenerated as requested.
Release Updates (Henning):
Release for Foxy, Galactic and Rolling is done!
Next release will be September 10
Starting the MSA Port (Henning):
Hybrid Planning (Sebastian):
We have a working demo and open PRs to review
Working with Fraunhofer IPA for a welding demo
A tutorial PR has been filed to moveit2_tutorials
Henning: Merge will be done after the welding demo is complete with Fraunhofer, which would work as a proof of concept and help debugging and improving the architecture
OMPL Orientation Constraints PR (Gauthier):
Felix: In favor of merging it but we need to backport it
Discussion about merging the MoveIt 1 PR : MoveIt and MoveIt 2 codebases should be almost the same except the launch file and ROS / ROS2 differences
Gauthier: Working on the PRs locally
Should discuss further in the next standup
Cartesian Scaling PR (Gauthier):
Pilz can set the scaling and speed, but there is no direct way of doing it
Henning: This is useful, but we would need extra parametrization
Pilz Dependency Issues:
No updates
Prerelease is still broken
Windows Port (Lior):
Akash’s PR is tested and runs without any problems: Fixes for Windows by Ace314159 · Pull Request #530 · moveit/moveit2 · GitHub
We changed the visibility headers to use auto generated ones
PRs are ready for review and standing for some time:
Henning: We need a Windows maintainer for MoveIt and MoveIt 2
Lior: I am interested in contributing and maintaining.
After Micheal and Robert’s approval and opinions we can move on
Tyler: Need of CI in Windows, and somebody to maintain / fix problems with PRs breaking Windows
Windows Fixup PR will be reviewed by a few volunteers with Windows machines
Lior, on CI: ROS2 and MoveIt 2 is trivial to test and run on Windows, and open to help
MacOS Support:
Painful: Tier 3 Support and have to build ROS2 from source
Mark can test things if needed, difficult to ensure stable versions for now
GSoC Updates (Felix):
David (Captain Yoshi) couldn’t make into this meeting but have a nice presentation to show in the next meeting
Continuing MoveIt 2 Foxy support (Tyler):
Some headers are deprecated
We won’t be able to compile the same code on Foxy and Rolling as soon as there is a sync on Rolling, as some headers are removed
Will be branching off for Foxy pretty soon
Teaser: Multi-arm manipulation (Felix):
We have a very cool project that can plan and check safety with a multi robot arm configuration at the same time that is almost done
Can’t release right now. The code needs to be disentangled from the project
Let me know if anyone is interested to talk about the project
) and we can fix issues when it’s actually used.