maeshu / moveit2

:robot: MoveIt! for ROS 2.0, Alpha

The MoveIt! Motion Planning Framework for ROS 2.0

• Milestones
• Overview of MoveIt!
• Installation Instructions
• Documentation
• Get Involved

Milestones

• Install instructions
  • Ubuntu 18.04
  • OS X 10.14
• Upgrade continuous integration for ROS 2.0
• Convert moveit packages to ROS 2.0
  • Convert moveit_core (in progress @vmayoral)
    • Convert all headers and link it to HRIM (contributed by @ibaiape)
    • Dependencies on other packages
      • tf2_kdl ros2/geometry2#90
      • eigen_stl_containers https://github.com/AcutronicRobotics/eigen_stl_containers/tree/ros2
      • geometric_shapes moveit/geometric_shapes#96
      • random_numbers moveit/random_numbers#12
      • srdfdom (contributed by @anasarrak, @vmayoral and @ahcorde) moveit/srdfdom#45
      • urdf_parser_py ros/urdf_parser_py#41
      • Created a ROS 2 version (with package.xml) of urdfdom_headers https://github.com/AcutronicRobotics/urdfdom_headers/tree/ros2
      • octomap https://github.com/AcutronicRobotics/octomap
        • octomap
        • octovis
        • dynamicEDT3D
    • Convert moveit_core packages to ROS 2.0
      • version
      • macros
      • backtrace
      • exceptions
      • profiler
      • logging
      • background_processing
      • kinematics_base
      • controller_manager
      • sensor_manager
      • robot_model
      • transforms
      • robot_state
      • robot_trajectory
      • collision_detection
      • collision_detection_fcl
      • kinematic_constraints
      • planning_scene
      • constraint_samplers
      • planning_interface
      • planning_request_adapter
      • trajectory_processing
      • distance_field
      • collision_distance_field
      • kinematics_metrics
      • dynamics_solver
      • utils
  • Convert moveit_kinematics
  • Convert moveit_planners_ompl
  • Convert moveit_ros_planning
  • Convert moveit_ros_planning_interface
  • Convert moveit_ros_benchmarks
  • Convert moveit_ros_control_interface
  • Convert moveit_ros_manipulation
  • Convert moveit_ros_move_group
  • Convert moveit_ros_perception
  • Convert moveit_ros_robot_interaction
  • Convert moveit_ros_visualization
  • Convert moveit_ros_warehouse
  • Convert moveit_setup_assistant
  • Convert moveit_simple_controller_manager
  • Convert moveit_visual_tools
  • Convert moveit_task_constructor
  • Convert moveit_resources
  • Convert moveit_commander
  • Convert moveit_fake_controller_manager
• New features in ROS 2.0
  • Migrate plugin architecture to ROS2 nodelets
• Documentation
  • Update tutorials for MoveIt2
  • Create tutorial on using ros1/ros2 bridge to support ros1 hardware drivers
  • Move install instructions to moveit.ros.org
• Major refactoring and divergence from moveit2
  • Run ROS2 C++ and python linters
  • Delete excesses packages that are left over from rosbuild stacks: moveit_runtime, moveit_plugins, moveit_ros
  • Rename non-package folders:
    • rename moveit_planners to planners
    • rename moveit_plugins to controller_interfaces
  • Restructure folder layout of moveit repo:
    • flatten moveit_ros folder to root of repo
    • rename all moveit_ros folders with moveit_ros prefix
  • Rename major classes
    • ControllerManagers become ControllerInterfaces
    • Rename related packages
  • Merge repos:
    • moveit 9.6 MB
    • moveit_task_constructor
    • moveit_tutorials 28.6 MB
    • moveit_msgs
    • moveit_resources 61 MB
    • moveit_visual_tools
    • moveit_advanced?
    • DELETE: moveit_kinematics_tests
  • Remove large binaries from moveit repo
  • Add gitlfs?

Continuous Integration Status

Docker Containers

TODO Create ROS2 Docker containers for MoveIt!

ROS Buildfarm

Debian releases of MoveIt2 will not be available during the alpha development stage. Check back May 2019.