The following are a list of potential projects that would greatly benefit the MoveIt! project if accomplished. This list serves as a start point for potential funding of code sprints or student projects, but is by no means an exhaustive list.
Detailed description: MoveIt! is not a perception library, but does come with support for using octomaps with point clouds. This functionality has not been well maintained and needs extensive improvements:
Detailed description: MoveIt! severely lacks a good grasping library for generating candidate object grasps during manipulation. The old GraspIt solution is deprecated and nearly impossible to use. Currently MoveIt! users create their own, or hard code simple heuristics. This task could include:
Detailed description: MoveIt! was designed to be highly plugin-based and originally supported 3 planning libraries. Today that number has shrunk to basically 1. There are many good alternative motion planning libraries that could be (re)added to MoveIt!, including:
Detailed description: MoveIt supports storing Constraints, PlanningScenes and RobotStates in a database, termed “warehouse” within MoveIt. This interface was recently changed to support plugins, but currently there are no plugins available that compile/work with a standard linux distribution out of the box.
Detailed description: Currently, MoveIt supports the OMPL planning library via a C++ based binding system in the package
ompl_interface. This should be deprecated in favor of a plugin-based system, that eases configuration of different planners within OMPL. In effect, the plugin allows new planning algorithms derived from the abstract Planner API in OMPL to be loaded via a yaml file. It also allows users to easily create new planning configurations for existing planning algorithms in OMPL via such a yaml. Most of the work for this is already done and has been used extensively in ROS Indigo. This is a great project for someone who wants to better understand the connection between MoveIt! And OMPL.
We are excited to announce that the robotic arm manufacturer Franka Emika is partnering with PickNik to sponsor a MoveIt! codesprint to further improve MoveIt!’s tutorials, documentation, and website.
Results from our second annual international hackathon to improve the MoveIt! code base, documentation, and community.
Join us for an international hackathon to improve the MoveIt! code base, documentation, and community.
MoveIt! is 5 years old!
MoveIt! is 5 years old!