The MoveIt! Motion Planning Framework for ROS 2.0
- Install instructions
Update/setup infrastructure for development
- Upgrade continuous integration for ROS 2.0
- Convert all headers and link it to HRIM (contributed by @ibaiape)
- Update/setup infrastructure for development
- Delete metapackages
- Upgrade continuous integration for ROS 2.0
- Refactor/cleanup folder hierarchy
Dependencies on other packages
- 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
- 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
Other moveit packages (e.g. moveit_ros, ...)
- moveit_ros
- moveit_ros_planning_interface (dummy interface for now)
- py_bindings_tools
- common_planning_interface_objects
- planning_scene_interface
- move_group_interface
- robot_interface
- test
- move_group
- planning
- moveit_ros_perception
- occupancy_map_monitor
- lazy_free_space_updater
- point_containment_filter
- pointcloud_octomap_updater
- mesh_filter
- depth_image_octomap_updater
- semantic_world
- moveit_ros_manipulation
- move_group_pick_place_capability
- moveit_ros_planning_interface (dummy interface for now)
Necessary for a Minimal Working Example
- Necessary for a Minimal Working Example (This list can vary, they are the initial includes for the planning_interface/move_group_interface that is what we need for a plan and execute)
- moveit_ros_perception
- occupancy_map_monitor
- move_group
- capability_names
- planning
- collision_plugin_loader
- planning_scene_monitor
- current_state_monitor
- planning_scene_monitor
- trajectory_monitor
- trajectory_execution_manager
- trajectory_execution_manager
- common_planning_interface_objects
- common_objects
- planning_interface
- planning_scene_interface
- planning_scene_interface
- planning_scene_interface
- moveit_ros_manipulation
- move_group_pick_place_capability
- capability_names.h
- move_group_pick_place_capability
- moveit_ros_perception
New features in ROS 2.0
- New features in ROS 2.0
- Migrate plugin architecture to ROS2 nodelets
Documentation
- [ ] Documentation - [ ] Tutorials for MoveIt2 - [ ] Create tutorial on using ros1/ros2 bridge to support ros1 hardware drivers - [ ] Move install instructions to moveit.ros.orgMajor refactoring and divergence from moveit2 (not started)
- 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?
TODO Create ROS2 Docker containers for MoveIt!
Debian releases of MoveIt2 will not be available during the alpha development stage. Check back May 2019.