MoveIt Roadmap 2022

As an open source project, we rely on everyone to get involved with contributions of new features and bug improvements. Financial support in the form of grants and code sprints are of course welcomed too! Please contact us if you’re interested in supporting these efforts.

Support
Detailed Roadmap on ZenHub

MoveIt Jazzy

SEE ROADMAP

May 2023

Initial Development 1 July 2023

Feature Freeze 30 March 2024

Official Release 31 May 2024

May 2024

Calendar edit Upcoming Features

There are no guarantees that any feature in this list will be developed.

The following list outlines what our MoveIt Maintainers and Core Contributors are working on currently. If you are actively working on a new major feature for MoveIt, please create a pull request to this page to add it. We'd love to increase visibility of that work, prevent overlapping effortings, and encourage collaborations between developers.

FEATURE
STATUS
TARGET DATE
FEATURE LEAD
2021

Hybrid Planning

Issue: #433

Completed
December 2021
Sebastian Jahr
PickNik
Henning Kayser
PickNik

Port MoveIt Task Constructor to ROS 2

Issue: #170

Completed
November 2021
Jafar Abdi
PickNik
Henning Kayser
PickNik

Port Pilz Industrial Motion Planner to ROS 2

Issue: #315

Completed
December 2021
Henning Kayser
PickNik
2022

OMPL Orientation Constraints

Issue: #348 PRs: #550, #1273

Completed
June 2022
Stephanie Eng
PickNik

MoveIt Config Redesign - Migrate MSA to ROS 2

Issue: #313 PR: #1254

Completed
June 2022
Henning Kayser
PickNik
David Lu!
PickNik

Cartesian Interpolation with optimization-based IK

Issue: #1370 PRs: #1386, #1434

Completed
August 2022
Tyler Weaver
PickNik
Wyatt Rees
PickNik

Support Chainable Admittance Controllers

Issue: #1371 PR: #1482

Completed
September 2022
Paul Gesel
PickNik

Remove outdated & unused code

Issue: #1038

Completed
October 2022
Henning Kayser
PickNik

Cost-optimized planning with STOMP

Issue: #1603 Repo: ros-planning/stomp_moveit

Completed
November 2022
Henning Kayser
PickNik

Better path quality when planning with MoveItCpp

Issue: #1200 PR: #1420

Completed
November 2022
Sebastian Jahr
PickNik

GSoC: Create Python bindings for MoveIt 2

Issue: #1279 PR: #1546

In Review
February 2023
Peter David Fagan
University of Edinburgh

GSoC: Simultaneous Trajectory Execution

Issue: #3156 PR: #3243

In Review
February 2023
Cristian C. Beltran-Hernandez
Osaka University

Make ROS 2 parameters more dynamic and easier to use

Issue: #1403

In Progress
February 2023
Henning Kayser
PickNik
Tyler Weaver
PickNik

Support HPP-FCL as collision checker

Issue: #1435 PR: #1521

In Progress
February 2023
Vatan Aksoy Tezer
Rapyuta Robotics

Add ability to attach and detach end-effector links

Issue: #208

Needs Funding
TBD
TBD
Calendar plus

Long Term Goals

In order to align collaborative development and understand what MoveIt is and is not, we maintain a document of long term goals, target users, and future direction.

VIEW LONG TERM GOALS
Code

Suggested Code Sprints

We maintain a list of future projects and code sprints, ideal for students like the Google Summer of Code, internships, or graduate programs.

VIEW CODE SPRINTS