The MoveIt! Motion Planning Framework for ROS 2.0

• Milestones
• Overview of MoveIt!
• Installation instructions for MoveIt 2
• Documentation
• Get Involved

Milestones

0. Official announcement, commitment from Acutronic Robotics to allocate PMs and fund PickNik
1. Why MoveIt 2 and approach
2. Porting and understanding moveit_core
3. First demonstrator in ROS 2, planning to a joint-space goal
4. Sensorless collision detection with ROS 2
5. Announcing MoveIt 2 alpha release

Progress

Update/setup infrastructure for development

• Upgrade continuous integration for ROS 2.0
  • Simple CI with Travis (Linux and OS X)
  • moveit_ci https://github.com/AcutronicRobotics/moveit_ci/tree/ros2
• Convert all headers and link it to HRIM (contributed by @ibaiape)
• Update/setup infrastructure for development
  • Delete metapackages
  • Upgrade continuous integration for ROS 2.0
  • Refactor/cleanup folder hierarchy

Dependencies on other packages

• Dependencies on other packages
  • tf2_kdl ros2/geometry2#90
  • eigen_stl_containers https://github.com/AcutronicRobotics/eigen_stl_containers/tree/ros2
  • geometric_shapes moveit/geometric_shapes#96
  • random_numbers moveit/random_numbers#12
  • srdfdom (contributed by @anasarrak, @vmayoral and @ahcorde) moveit/srdfdom#45
  • urdf_parser_py ros/urdf_parser_py#41
  • Created a ROS 2 version (with package.xml) of urdfdom_headers https://github.com/AcutronicRobotics/urdfdom_headers/tree/ros2
  • octomap https://github.com/AcutronicRobotics/octomap
    • octomap
    • octovis
    • dynamicEDT3D

Convert moveit_core packages to ROS 2.0

• Convert moveit_core packages to ROS 2.0
  • version
  • macros
  • backtrace
  • exceptions
  • profiler
  • logging
  • background_processing
  • kinematics_base
  • controller_manager
  • sensor_manager
  • robot_model
  • transforms
  • robot_state
  • robot_trajectory
  • collision_detection
  • collision_detection_fcl
  • kinematic_constraints
  • planning_scene
  • constraint_samplers
  • planning_interface
  • planning_request_adapter
  • trajectory_processing
  • distance_field
  • collision_distance_field
  • kinematics_metrics
  • dynamics_solver
  • utils

Other moveit packages (e.g. moveit_ros, ...)

• moveit_ros
  • moveit_ros_planning_interface (dummy interface for now)
    • py_bindings_tools
    • common_planning_interface_objects
    • planning_scene_interface
    • move_group_interface
    • robot_interface
    • test
  • move_group
  • planning
    • collision_plugin_loader moveit#69
    • rdf_loader moveit#71
    • kinematics_plugin_loader moveit#74
  • moveit_ros_perception
    • occupancy_map_monitor
    • lazy_free_space_updater
    • point_containment_filter
    • pointcloud_octomap_updater
    • mesh_filter
    • depth_image_octomap_updater
    • semantic_world
  • moveit_ros_manipulation
    • move_group_pick_place_capability

Necessary for a Minimal Working Example

• Necessary for a Minimal Working Example
  • moveit_core
  • moveit_ros_perception
    • occupancy_map_monitor
  • move_group
  • moveit_ros_planning
    • rdf_loader
    • collision_plugin_loader
    • kinematics_plugin_loader
    • robot_model_loader
    • constraint_sampler_manager_loader
    • planning_request_adapter_plugins
    • planning_pipeline
    • planning_scene_monitor
    • trajectory_execution_manager
    • plan_execution
  • planning_interface
    • common_planning_interface_objects
    • planning_scene_interface
    • move_group_interface (partially)
    • test
  • moveit_planner
    • ompl
  • moveit_kinematics
    • kdl_kinematics_plugin
  • moveit_plugins
    • moveit_fake_cotroller_manager
    • moveit_simple_controller_manager

New features in ROS 2.0 (not started)

• New features in ROS 2.0 (see last survey for more insights)
  • Realtime support
  • Lifecycle management of the ROS nodes%
  • Replacing plugins with ROS 2 components
  • Security support
  • Improved namespace handling
  • Windows support

Documentation (not started)

• Documentation
  • Tutorials for MoveIt2
  • Create tutorial on using ros1/ros2 bridge to support ros1 hardware drivers
  • Move install instructions to moveit.ros.org

Major refactoring and divergence from moveit2 (not started)

• Major refactoring and divergence from moveit2
  • Run ROS2 C++ and python linters
  • Delete excesses packages that are left over from rosbuild stacks: moveit_runtime, moveit_plugins, moveit_ros
  • Rename non-package folders:
    • rename moveit_planners to planners
    • rename moveit_plugins to controller_interfaces
  • Restructure folder layout of moveit repo:
    • flatten moveit_ros folder to root of repo
    • rename all moveit_ros folders with moveit_ros prefix
  • Rename major classes
    • ControllerManagers become ControllerInterfaces
    • Rename related packages
  • Merge repos:
    • moveit 9.6 MB
    • moveit_task_constructor
    • moveit_tutorials 28.6 MB
    • moveit_msgs
    • moveit_resources 61 MB
    • moveit_visual_tools
    • moveit_advanced?
    • DELETE: moveit_kinematics_tests
  • Remove large binaries from moveit repo
  • Add gitlfs?

Install and Test MoveIt 2

Note that MoveIt 2 is a work in progress. Limited effort has been allocated to provide instructions on how to reproduce the available work.

Install and test options

Build From Source

Ubuntu 18.04

Install ROS 2 Dashing Diademata

Follow this to install ROS 2 Dashing

Compile MoveIt 2 and Dependencies:

Install additional build dependencies:

sudo apt-get install python-vcstool python3-colcon-common-extensions

Warning:--symlink-install flag is not compatible for now: #112, #104

Download and build MoveIt2:

mkdir -p ~/moveit2_ws/src
cd ~/moveit2_ws/src
git clone https://github.com/AcutronicRobotics/moveit2 -b master
cd ..
vcs import src < src/moveit2/moveit2.repos
export ROS_DISTRO=dashing
source /opt/ros/dashing/setup.bash
rosdep update && rosdep install -q -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
colcon build --merge-install

Using a Docker container

# Host machine
docker run -it ros:dashing
# Inside of the docker image
mkdir -p ~/moveit2_ws/src
cd ~/moveit2_ws/src
git clone https://github.com/AcutronicRobotics/moveit2 -b master
cd ..
vcs import src < src/moveit2/moveit2.repos
apt update
rosdep update && rosdep install -q -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false || true
colcon build --merge-install

OS X 10.14 (DEPRECATED)

Refer to https://acutronicrobotics.com/docs/products/robots/mara/moveit2/install/osx (outdated)

Using the CI infrastructure

Moveit uses a Docker-based CI infrastructure to run tests and validate commits. Such infrastructure adapted for MoveIt 2 is available at https://github.com/acutronicrobotics/moveit_ci.git.

Using the CI infrastructure, one can get access to MoveIt 2 current status and test its capabilities

Using the CI infrastructure in Ubuntu

Note: You need to have docker installed on your system.

cd ~ && git clone https://github.com/AcutronicRobotics/moveit2
cd ~/moveit2
git clone -q -b dashing --depth=1 https://github.com/acutronicrobotics/moveit2_ci.git .moveit2_ci
source .travis.linux.env
.moveit2_ci/travis.sh

Using the CI infrastructure in OS X

TODO

Continuous Integration

Docker Containers

https://cloud.docker.com/u/acutronicrobotics/repository/docker/acutronicrobotics/moveit2