# 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
---
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