**Agenda** - Status of ROS Melodic - Building Melodic on Kinetic - Progress with GSoC students - World MoveIt! Day Planning - New OMPL interfaces - Potential Intel collaborations - Switching to reoccurring monthly meeting of shorter length **Attendance** - Michael v4hn Grner - Robert Haschke - Isaac IY Saito - Jorge Nicho - Dave Coleman - Ian McMahon - Bence Magyar - Gijs van der Hoorn - Mike Lautman - Levi H. Armstrong - Akiyoshi Ochiai - Zack Kingston - Will Baker - Nathan Brooks - Matthew K Hansen - Mark Moll - Andy McEvoy - Sharron Liu **Summary** 1 - Introductions - Matthew K Hansen from Intel - Zack Kingston from RICE's Kavraki robotics lab - Works in MoveIt!, Robonaut 2.0 - Will Baker from Houson Mechatronics - Worked on MoveIt! with Robonaut - Nathan Brooks from Picknik 2 - ROS Melodic - MoveIt! migration PR still un-reviewed - Most users still on kinetic - No robot drivers, many packages still behind - API changes in Melodic, pluginlib, TF2(ABI changes) , etc., make it incompatible with ROS- Kinetic. These changes bring ROS Melodic closer to ROS 2.0. 3 GsOC - Michael Grner update: - Pull Request on grasping, grasp generation and tutorial. - Fixes to MoveIt Grasp Package - Detect Object button in Rviz being examined for possible fixes; it currently does nothing. - Andy McEvoy update: - Mentoring student Mohamed. - Working on new features for the Setup Assistant that work with Gazebo and add improved visualization - ROS Control Integration in progress. - Grasping screen, not much progress. - Mark Moll update: - Working on improving CHOMP and STOMP - CHOMP's original implementation is very brittle. - MoveiIt! Website now has tutorials on how to setup those planners. - CHOMP Author claims that planner has lots of downsides, especially when dealing with obstacles. - STOMP optimization framework is very promising, needs repository maintainers to be more responsive. - Collision refactoring issue is being addressed, a PR has been created. - More participation from industrial_move maintainers, add new admins to keep development from stagnating. 4 New OMPL interfaces - OMPL planner plugin refactoring allows new and existing planner implementation to load their own configuration, allows selecting planner types (joint planner, Cartesian planner) and reuse of configuration spaces. - Big internal API change, for external user it should look the same; behavior effectively remains unchanged. - Perhaps integrate into melodic? - Pull Request is being broken down into smaller PRs. - State Space discontinuity has been a long standing issue. 5 Intel - Matthew K Hansen and Sharron Liu - Focus in enabling ROS 2.0 for industrial applications. Looking into enabling MoveIt in ROS 2.0 - ROS2 Grasp Library Presentation: - MoveIt Plugin - Prototyped GQCNN (originally trained with Tensorflow) grasp method with Interl OpenVINO, 93% success rate was achieved. Original implementation has UCB license (not-for-profit) so it cannot be used for commercial purposes. - Grasp Library Proposal, trained with caffe and RGBD image data. - Alternatives to TensorFlow or Caffe Can is OpenVINO which provides hardware acceleration benefits. - Goal is to create a ROS 2.0 Grasp Library with the option to enable OpenVIN. A demo with the UR5 robot that works with MoveIt! will be created and documented 6 World MoveIt! Day - Planned for October 25th - Lessons learned document from last year is available. - Not very well advertised. Official announcement soon to come. 7 Monthly Meetings - Will start scheduling monthly meetings. --- [Visit Topic](https://discourse.ros.org/t/moveit-maintainer-meeting-recap-july-25th-2018/5504/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: