[ros-users] [Discourse.ros.org] [MoveIt! Developers] Maintainer Meeting Recap - August 15th

[Jorge Nicho]

**Topics**

- Beginning ROS 2.0 efforts - Ian
- Ending Jade support and forking for Lunar - Isaac
- World MoveIt! Day 2017 - Dave
- STOMP Cost Maps
- Generalize IK parameters
- OMPL Updates
- Agile Grasps 
- New maintainers
- New MoveIt! website

**Attendees**
- Michael 'v4hn' Grner
- Robert Haschke
- Isaac IY Saito
- Jorge Nicho
- G.A. vd. Hoorn
- Dave Coleman
- Ian McMahon
- Bence Magyar
- Jonathan Binney
- Mark Moll

**Summary**
- ROS 2.0:
  - Challenges
    - Robot representation file to be decided in the future.
    - Communication layer
    - ROS parameters no supported
  - Action items
    -  Using the bridge as an initial step.  Have verification from OSRF
    - Separate branch to be created for changes related to ROS 2.0 transition

- Lunar branch
   - Create new branch for large feature changes
   - Freezing jade
   - Continue cherry  picking into indigo, kinetic

- World MoveIt! Day
   - After ROS Con, maybe week after ICRA, tentative date 10th of October.

- OMPL replacement interface (Mark Moll):
  - Current Features
    - Planning with Cost functions
    - Existing Cost function framework in OMPL
  - In progress features
    - Hard Constraints (very specific)
    - Framework will load new planners that adhere to the ompl interface.
    - https://github.com/ros-planning/moveit/issues/117

- STOMP Cost Maps (Bence):
  - Too many Assumptions in both the MoveIt! and STOMP frameworks.
  - Fixing start state is limiting.
  - Bence to compile list of issues

- IK parameters:
  - Parameters exposure is lacking
  - Alternatives include using generic structure with downcasting or passing a function callback

- MoveIt! Website face lift 
  - Setup a Bounty source account for funding this effort?
 - Agile Grasp Generator
   - Integration in MoveIt! in progress 
   - No general perception tool in MoveIt! to supplement grasping functionality.

- Pull Requests
   - Maintainers to look at PR list more frequently.
   - Four eyes principle for merging unless change is insignificant (e.g. typos).
   - Michael's Remarks
     - To help distinguish between "bottlenecked" and other requests, I just created a new tag "awaits 2nd review". Now, if you open https://github.com/ros-planning/moveit/pulls you get friendly red highlights on some requests.
     - Also please have a quick look at our maintainer side guidelines if you have not read them before:
http://moveit.ros.org/documentation/contributing/pullrequests/

Thanks to all the maintainers who attended the meeting!





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