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Add more milestones and detail to ROS2 roadmap #17

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Mar 4, 2019
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Add more milestones and detail to ROS2 roadmap #17

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Add more milestones and detail to ROS2 roadmap
davetcoleman Feb 20, 2019
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Feb 25, 2019
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Update README.md
mlautman Mar 4, 2019
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43 changes: 32 additions & 11 deletions README.md
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Expand Up @@ -9,16 +9,11 @@ The MoveIt! Motion Planning Framework **for ROS 2.0**
- [Get Involved](http://moveit.ros.org/documentation/contributing/)

## Milestones
- [ ] Setup instructions
- [ ] Install instructions
- [ ] Ubuntu 18.04
- [ ] OS X 10.14
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@vmayoral my understanding is that you don't have plans to support OSX currently, right?

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@davetcoleman we discussed this internally and we're going to try to get OS X support as well. That's the initial effort at least.

- [ ] Update/setup infrastructure for development
- [x] Delete metapackages
- [x] Upgrade continuous integration for ROS 2.0
- [x] Refactor/cleanup folder hierarchy
- [ ] Install instructions
- [ ] Ubuntu 18.04
- [ ] OS X 10.14
- [ ] Upgrade continuous integration for ROS 2.0
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Add item removed, not sure where though

Suggested change
- [ ] Upgrade continuous integration for ROS 2.0
- [ ] Upgrade continuous integration for ROS 2.0
- [x] Update/setup infrastructure for development
- [x] Delete metapackages
- [x] Upgrade continuous integration for ROS 2.0
- [x] Refactor/cleanup folder hierarchy

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I expanded these with more details, below:

  • 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

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That looks good @davetcoleman

- [ ] Convert moveit packages to ROS 2.0
- [x] ~~Include moveit_msgs in HRIM (**@ibaiape**)~~
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@vmayoral what is HRIM?

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@davetcoleman https://github.com/AcutronicRobotics/HRIM, discarded now as part of our contributions due to community's input. Refer to ros2/ros2#607 (comment)

- [ ] Convert moveit_core (**in progress @vmayoral**)
- [x] Convert all headers and link it to HRIM (contributed by @ibaiape)
- [ ] Dependencies on other packages
Expand Down Expand Up @@ -79,11 +74,37 @@ The MoveIt! Motion Planning Framework **for ROS 2.0**
- [ ] Convert moveit_task_constructor
- [ ] Convert moveit_resources
- [ ] Convert moveit_commander
- [ ] Convert moveit_fake_controller_manager
- [ ] Convert moveit_fake_controller_manager
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- [ ] New features in ROS 2.0
- [ ] Migrate plugin architecture to ROS2 nodelets
- [ ] Documentation
- [ ] Create tutorials
- [ ] Update tutorials for MoveIt2
- [ ] Create tutorial on using ros1/ros2 bridge to support ros1 hardware drivers
- [ ] Move install instructions to moveit.ros.org
- [ ] Major refactoring and divergence from moveit2
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@rhaschke some of the breaking changes i'm hoping to do for moveit2, to be discussed

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Apart from moving to ROS2 structures instead of plugin interfaces - and this is not even listed here - I do not see a single item in this list I would hesitate to discuss for moveit-for-ros1's master branch too.

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ok, well let's get past the ros1 release and master branch split and discuss that there!

- [ ] 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?


## Continuous Integration Status

Expand Down