The MoveIt! Motion Planning Framework for ROS 2.0
Milestones
- Official announcement, commitment from Acutronic Robotics to allocate PMs and fund PickNik
- Why MoveIt 2 and approach
- Porting and understanding moveit_core
- First demonstrator in ROS 2, planning to a joint-space goal
- Sensorless collision detection with ROS 2
- Announcing MoveIt 2 alpha release
Progress
Update/setup infrastructure for development
- [x] Upgrade continuous integration for ROS 2.0 - [x] Simple CI with Travis (Linux and OS X) - [x] moveit_ci https://github.com/AcutronicRobotics/moveit_ci/tree/ros2 - [x] Convert all headers and link it to HRIM (contributed by @ibaiape) - [x] Update/setup infrastructure for development - [x] Delete metapackages - [x] Upgrade continuous integration for ROS 2.0 - [x] Refactor/cleanup folder hierarchyDependencies on other packages
- [x] Dependencies on other packages - [x] tf2_kdl https://github.com/ros2/geometry2/pull/90 - [x] eigen_stl_containers https://github.com/AcutronicRobotics/eigen_stl_containers/tree/ros2 - [x] geometric_shapes https://github.com/ros-planning/geometric_shapes/pull/96 - [x] random_numbers https://github.com/ros-planning/random_numbers/pull/12 - [x] srdfdom (contributed by @anasarrak, @vmayoral and @ahcorde) https://github.com/ros-planning/srdfdom/pull/45 - [x] urdf_parser_py https://github.com/ros/urdf_parser_py/pull/41 - [x] Created a ROS 2 version (with package.xml) of urdfdom_headers https://github.com/AcutronicRobotics/urdfdom_headers/tree/ros2 - [x] octomap https://github.com/AcutronicRobotics/octomap - [x] octomap - [ ] octovis - [ ] dynamicEDT3DConvert moveit_core packages to ROS 2.0
- [x] Convert moveit_core packages to ROS 2.0 - [x] version - [x] macros - [x] backtrace - [x] exceptions - [x] profiler - [x] logging - [x] background_processing - [x] kinematics_base - [x] controller_manager - [x] sensor_manager - [x] robot_model - [x] transforms - [x] robot_state - [x] robot_trajectory - [x] collision_detection - [x] collision_detection_fcl - [x] kinematic_constraints - [x] planning_scene - [x] constraint_samplers - [x] planning_interface - [x] planning_request_adapter - [x] trajectory_processing - [x] distance_field - [x] collision_distance_field - [x] kinematics_metrics - [x] dynamics_solver - [x] utilsOther moveit packages (e.g. moveit_ros, ...)
- [ ] moveit_ros - [x] 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 - [x] collision_plugin_loader https://github.com/ros-planning/moveit2/pull/69 - [x] rdf_loader https://github.com/ros-planning/moveit2/pull/71 - [x] kinematics_plugin_loader https://github.com/ros-planning/moveit2/pull/74 - [x] moveit_ros_perception - [x] 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_capabilityNecessary for a Minimal Working Example
- [ ] Necessary for a Minimal Working Example - [x] moveit_core - [x] moveit_ros_perception - [x] occupancy_map_monitor - [x] move_group - [x] moveit_ros_planning - [x] rdf_loader - [x] collision_plugin_loader - [x] kinematics_plugin_loader - [x] robot_model_loader - [x] constraint_sampler_manager_loader - [x] planning_request_adapter_plugins - [x] planning_pipeline - [x] planning_scene_monitor - [x] trajectory_execution_manager - [x] plan_execution - [ ] planning_interface - [x] common_planning_interface_objects - [x] planning_scene_interface - [ ] move_group_interface (_partially_) - [x] test - [ ] moveit_planner - [x] ompl - [ ] moveit_kinematics - [x] kdl_kinematics_plugin - [ ] moveit_plugins - [x] moveit_fake_cotroller_manager - [x] moveit_simple_controller_managerNew features in ROS 2.0 (not started)
- [ ] New features in ROS 2.0 (see [last survey for more insights](https://moveit.ros.org/assets/pdfs/2019/moveit_2019_survey.pdf)) - [ ] Realtime support - [ ] Lifecycle management of the ROS nodes% - [ ] Replacing plugins with ROS 2 components - [ ] Security support - [ ] Improved namespace handling - [ ] Windows supportDocumentation (not started)
- [ ] Documentation - [ ] Tutorials for MoveIt2 - [ ] Create tutorial on using ros1/ros2 bridge to support ros1 hardware drivers - [ ] Move install instructions to moveit.ros.orgMajor 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](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/) to install ROS 2 Dashing ##### Compile MoveIt 2 and Dependencies: Install additional build dependencies: ```bash sudo apt-get install python-vcstool python3-colcon-common-extensions ``` **Warning:**`--symlink-install` flag is not compatible for now: https://github.com/AcutronicRobotics/moveit2/issues/112, https://github.com/AcutronicRobotics/moveit2/issues/104 Download and build MoveIt2: ```bash 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 ```bash # 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](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. ```bash 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 TODOContinuous Integration
Docker Containers
https://cloud.docker.com/u/acutronicrobotics/repository/docker/acutronicrobotics/moveit2