[ros-users] [Discourse.ros.org] [MoveIt!] MoveIt! Maintainer…

-    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
-    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
-    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.
-    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.
-    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.
-    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
-    Planned for October 25th
-    Lessons learned document from last year is available.
-    Not very well advertised.  Official announcement soon to come.
-    Will start scheduling monthly meetings.

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