# Agenda * Kinematics Base API Rework * MoveIt! 1.0 Release * Policy for Contributors and Maintainers * Clang-tidy Work * Misc # Attendees * Dave Coleman * Jorge Nicho * Robert Haschke * Mike Lautman * Jon Binnery * Gijs van der Hoorn * Michael Grner * Zak Kingston * Bryce Willey * Nathan Brooks * Felix von Drigalski ## Kinematics Base API (Led by Robert Haschke) * Technical side: Regression in Melodic: KDL IK doesn't provide nice results * Assumption: things are a little slower causing earlier timeouts * The API for Kinematics isn't satisfactory (Comments are in Issue https://github.com/ros-planning/moveit/issues/1285) * Lots of cruft/redundancy * General agreement that it needs to change * However, it's an old API, with lots of plugin users. * Better documentation of the features are needed as well * Several use cases: * any IK solution, close or not * closest as possible solutions * Some IK plugins won't support all of these options, maybe we expand the ability to check if a certain plugin has a certain feature * Major users: Descarte * Redundant Kinematic's Base * Major discussion: do we break user' API unnecessarily? ## MoveIt! 1.0 Release: * https://docs.google.com/document/d/1_lbjxy-jsF-rOpTkKUiL7vSprfU4jy67fjglUYRcMPw/edit#heading=h.s3mgzl2vy0b * ROS 2.0 is a giant API change * Do we want to be able to have MoveIt! 1.0 and 2.0 on the same computer? * Probably not * Who do we optimize for: People using MoveIt! and want it to 'just work', and those who can handle breaking changes and update * Mostly the latter: see https://discourse.ros.org/t/open-letter-to-moveit-community/6779 (under-optimizing for contributors) * ROS 2 will be hard, it's still missing a lot of features * It does have actions and parameters, but no parameter server * We will have 2 branches: master for ROS 1.0, and d***-devel for ROS 2.0 * Beta ROS 2 release in December, release next year * Dave has been working getting resources to move to ROS 2.0, but the maintainers need to have a plan * Issue: someone has to write a ROS 2.0 branch, but while it's being written, there will be enough changes that they will have to catch up toWorkshop * Other big projects that have done the ROS 2 switch: * RViz: they did a hard fork for the new branch. * If someone wants to split off a branch, try to make sure you can isolate as many components as you can. It will be work in development for a long time. ## Policy for Contributors and Maintainers * Main difference: recognizes "Core Contributors" who might not be Maintainers, but still have significant MoveIt! experience. * recognized on the website, can put on CV, possibly could have Github tags for them so the community can recognize them. ## Clang-tidy: * https://github.com/ros-planning/moveit/issues/28 describes the next steps in detail * Travis might time out: could look into Coverity (used to find issues like https://github.com/ros-planning/moveit/issues/1277) that might run these things on other sites besides Travis * need to be cautious around function name changes, maybe those go in at the same time as the other API changes (discussed at the beginning of meeting) * Developer Workshop in China is focusing on clang-tidy ## Misc * Nathan is still working on smarter PR assignment, has found a repo that might help * Discussion of https://github.com/ros-planning/moveit/pull/1294, https://github.com/ros-planning/moveit/pull/1272, and https://github.com/ros-planning/moveit/pull/1288, attempting to merge them before the China Developer Workshop --- [Visit Topic](https://discourse.ros.org/t/moveit-maintainer-meeting-recap-january-11-2019/7416/1) 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: