As already discussed and announced on moveit.ros.org, we're aiming for a MoveIt 2 Beta release targeting Foxy Fitzroy in July. Feature-wise, this release can be equal to the Eloquent Beta version, so the roadmap is somewhat orthogonal to the overall migration process. However, there are some changes since Eloquent that require fixing or at least should be addressed.

In particular, we should review:

• Proper use of "modern" CMake interface targets with ament_target_dependencies
• Update Node Interface getters if applicable
• Verify tests work with new working directory

Additional steps:

• Review/update rosinstall dependencies + bump release version there
• Setup docker images
• Review release status of debian dependencies -> Make update strategy
• Update Readme instructions

Usually, we would do all these steps on master and then create the release branch from it. However, this would probably interfere with the general ROS 2 migration progress, so in this case I would actually create the foxy release branch first and then merge the changes back to master after the release. Alternatively, we could continue migration on the eloquent branch and sync that progress back once Foxy support is completed.

Open questions:

Can master support Foxy and Eloquent?
Considering the required changes it seems feasible to support both versions, possibly using separate rosinstall files. However, this might not be a long-term solution as we will start adding features that make use of affected API's (subscription callbacks, node interface getters).

What's our sync strategy?
I would suggest syncing all features from master into both release branches eloquent and foxy, until both are ready for a full release (i.e. all packages are ported). Depending on master support for both versions, MoveIt 2 roadmap progress will continue targeting foxy, where changes are synced back to eloquent on a frequent basis. I don't expect too much overhead there, considering the ROS2 changes between Eloquent and Foxy.