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  • MoveIt Config Redesign

    Porting the MSA requires more effort than simply applying the migration steps. With the switch to Python launch files, the new rclcpp::Parameter interface and related config changes (dropped XmlRpc support) require non-trivial re-implementation of some parts, including: * Standardized yaml configs and parameter parsing (#431) * New generic launch scripts, available as templates (#335) * Adaption of changed config/launch setups to MSA layout and implementation (#449) ## Design Ideas **Config files** All nodes/classes declare parameters in a standardized way so that it's possible to generate valid config (yaml) files automatically (e.g. ros2 param dump), ideally including descriptions and comments. This would allow MSA to generate config files from the actual node implementation. All exceptions should be caught and handled accordingly, parsing and conversion of abstract data types should be handled with proper parameter documentation and runtime messages/warnings. Optionally, node configs include version tags, loading of outdated configs would then result in a deprecation warning. **Launch files** MoveIt configs should be static by default and only contain the config (yaml,srdf) files needed to describe the setup configuration. The default launch scripts are not copied into each MoveIt config package, they are only used to initialize a MoveIt setup instance (MoveGroup, MoveItCpp) by reading the config files from a config package. Customization of launch descriptions can be enabled by supporting launch file overrides or exporting/importing of factory functions from the launch scripts. This would allow to keep a standard and reduce redundancy (and maintenance overhead) in launch files. Of course it's up to the devs to copy the whole launch architecture and modify it as needed.

    No due date
    •2/3 issues closed
    66% complete1 open2 closed

  • Milestone 1: MoveIt Core Fully Ported

    Intermediate milestone to have moveit_core fully building in ROS2 without any disabled features, with CI and tests passing.

    Due by March 15, 2019
    •4/4 issues closed
    100% complete0 open4 closed

  • Milestone 2: MoveIt 2 Full Alpha Release

    Release alpha version of MoveIt 2 for ROS2 Dashing in June, where MoveIt 2 is feature complete with MoveIt 1

    Due by June 30, 2019
    0% complete0 open0 closed