Moving PilzDE/pilz_industrial_motion#228 discussion here.

We have been talking with Pilz, and they have agreed, to further integrate their industrial planners (generators to create LIN, PTP and CIRC trajectories) into the MoveIt project by merging their planners here.

Benefits

• More users / exposure of their great work to the MoveIt community
• Fill a much needed gap in MoveIt's feature set for classic industrial interpolation approaches to planning
• Reduce duplicate maintenance by including code cleanup, releasing, upgrading code, and general community policy into the MoveIt maintainer project
• Increase MoveIt's test coverage (as measured by the new CodeCov!) by including Pilz's very feature rich test coverage
• Include more companies (Pilz) in the development of MoveIt

TODO

• Decide on license issue (copy left) and if it should be merged into /moveit because of it
• Decide on name for this new planner (industrial_planner was suggested by Pilz in meeting, but they are open to renaming)
• Create PR to merge into master branch
• Backport PR to melodic
• Optional: Backport PR to kinetic? In our meeting it was not clear if this is necessary. Personally on further thought, I don't think it's worth it.
• Create moveit_tutorial for this new planner
• Add @jschleicher as a MoveIt maintainer so he can continue to maintain this feature. I think he has proven his skills with the development of pilz_industrial_motion
• Add @ct2034 as a MoveIt Core Contributor so he can also get more involved in maintenance
• Make @jschleicher and @ct2034 code owners of industrial_planner
• Create blog post about this collaboration