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@ahcorde ahcorde released this May 28, 2019 · 92 commits to master since this release


  • ROS 2 distro: Dashing Diademata
  • OS support: Ubuntu 18.04 and Mac OS X 10.14 (some minor issues detected with OS X and are being fixed)
  • CI infrastructure for moveit2 and ROS 2 (source code)
  • Unit tests available for most packages ported
  • Preliminar instructions on how to install and test our work via a) a Docker container, b) the CI infrastructure and c) directly through the source code (both in OS X and Ubuntu)
  • Capability to make simple plans to joint-space goals
  • Co-release of a simple ROS 2 control framework for MARA modular robot (a native ROS 2 robot) (source code)
  • Video with a first demonstrator (link)

ROS packages ported

The following ROS 2 packages have been ported as part of this release:


moveit_core (as reported in our last article)

External dependencies

Known issues

  • At the time of writing, the following known issues have been identified and apply to the ROS 2 target distro (Dashing Diademata) creating conflicts with this release:
    ROS 2 actions not compiling in OpenSplice ros2/rosidl_typesupport_opensplice#30 ADLINK-IST/opensplice#92
  • Docker port mapping issue affects the launch of the demonstrator from the Docker image.
  • Issues with rviz2 in OS X ros2/rviz#385 (update: fixed)
  • Issues with Qt5 in OS X (update: fixed provisionally)
Assets 2
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