MoveIt 2 alpha release

Description

• ROS 2 distro: Dashing Diademata
• OS support: Ubuntu 18.04 and Mac OS X 10.14 (some minor issues detected with OS X and are being fixed)
• CI infrastructure for moveit2 and ROS 2 (source code)
• Unit tests available for most packages ported
• Preliminar instructions on how to install and test our work via a) a Docker container, b) the CI infrastructure and c) directly through the source code (both in OS X and Ubuntu)
• Capability to make simple plans to joint-space goals
• Co-release of a simple ROS 2 control framework for MARA modular robot (a native ROS 2 robot) (source code)
• Video with a first demonstrator (link)

ROS packages ported

The following ROS 2 packages have been ported as part of this release:

moveit2

moveit_core (as reported in our last article)

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

• 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
  • lma_kinematics_plugin
• moveit_plugins
  • moveit_fake_cotroller_manager
  • moveit_simple_controller_manager

External dependencies

• moveit_msgs
• geometry2
• geometric_shapes
• eigen_stl_containers
• object_recognition_msgs
• octomap_msgs
• random_numbers
• srdfdom
• urdf_parser_py
• octomap
• moveit_resources

Known issues

• At the time of writing, the following known issues have been identified and apply to the ROS 2 target distro (Dashing Diademata) creating conflicts with this release:
  ROS 2 actions not compiling in OpenSplice ros2/rosidl_typesupport_opensplice#30 ADLINK-IST/opensplice#92
• Docker port mapping issue affects the launch of the demonstrator from the Docker image.
• Issues with rviz2 in OS X ros2/rviz#385 (update: fixed)
• Issues with Qt5 in OS X (update: fixed provisionally)

ci_osx_dashing

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