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The MoveIt 2 Motion Planning Framework for ROS 2.0
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LanderU moveit_ros/move_group/CMakeLists.txt
Fix:

<?xml version="1.0" encoding="UTF-8"?>
<testsuite
  name="moveit_ros_move_group.lint_cmake"
  tests="2"
  failures="2"
  time="0.003"
>
>  <testcase
>      name="whitespace/mismatch (CMakeLists.txt:28)"
>          classname="moveit_ros_move_group.lint_cmake"
>            >
>            >      <failure message="Mismatching spaces inside () after
command"/>
  </testcase>
  <testcase
    name="whitespace/mismatch (CMakeLists.txt:38)"
    classname="moveit_ros_move_group.lint_cmake"
  >
  >      <failure message="Mismatching spaces inside () after command"/>
  >        </testcase>
  >          <system-out>Checked files:
  >          * CMakeLists.txt</system-out>
  >          </testsuite>
  >          build/moveit_ros_move_group/test_results/moveit_ros_move_group/lint_cmake.xunit.xml:
2 tests, 0 errors, 2 failures, 0 skipped
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README.md

MoveIt 2 Logo

The MoveIt! Motion Planning Framework for ROS 2.0

Milestones

  1. Official announcement, commitment from Acutronic Robotics to allocate PMs and fund PickNik
  2. Why MoveIt 2 and approach

Progress

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
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, ...)
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
        • query_planners_service_capability
        • move_action_capability
      • move_group_capability
    • moveit_ros_planning
      • rdf_loader
      • collision_plugin_loader
      • kinematics_plugin_loader
      • robot_model_loader
      • planning_pipeline
      • planning_scene_monitor
      • trajectory_execution_manager
      • plan_execution
    • planning_interface
      • common_planning_interface_objects
      • planning_scene_interface
        • planning_scene_interface
    • moveit_ros_manipulation
      • move_group_pick_place_capability
        • capability_names.h
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.org
Major 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?

Continuous Integration Status

Build Status

Docker Containers

https://cloud.docker.com/u/acutronicrobotics/repository/docker/acutronicrobotics/moveit2

ROS Buildfarm

Debian releases of MoveIt2 will not be available during the alpha development stage. Check back May 2019.

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