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The MoveIt! Motion Planning Framework for ROS 2.0

• Milestones
• Overview of MoveIt!
• Installation Instructions
• Documentation
• Get Involved

• Setup instructions
  • Install instructions
    • Ubuntu 18.04
    • OS X 10.14
• Update/setup infrastructure for development
  • Delete metapackages
  • Upgrade continuous integration for ROS 2.0
  • Refactor/cleanup folder hierarchy
• Convert moveit packages to ROS 2.0
  • Include moveit_msgs in HRIM (@ibaiape)
  • Convert moveit_core (in progress @vmayoral)
    • Convert all headers and link it to HRIM (contributed by @ibaiape)
    • 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
      • 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
  • Convert moveit_kinematics
  • Convert moveit_planners_ompl
  • Convert moveit_ros_planning
  • Convert moveit_ros_planning_interface
  • Convert moveit_ros_benchmarks
  • Convert moveit_ros_control_interface
  • Convert moveit_ros_manipulation
  • Convert moveit_ros_move_group
  • Convert moveit_ros_perception
  • Convert moveit_ros_robot_interaction
  • Convert moveit_ros_visualization
  • Convert moveit_ros_warehouse
  • Convert moveit_setup_assistant
  • Convert moveit_simple_controller_manager
  • Convert moveit_visual_tools
  • Convert moveit_task_constructor
  • Convert moveit_resources
  • Convert moveit_commander
  • Convert moveit_fake_controller_manager
• New features in ROS 2.0
  • Migrate plugin architecture to ROS2 nodelets
• Documentation
  • Create tutorials

TODO Create ROS2 Docker containers for MoveIt!

Debian releases of MoveIt2 will not be available during the alpha development stage. Check back May 2019.