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Milestone 1
Milestone 2
Milestone 3
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Straight Port to ROS 2Realtime SupportFully Leverage ROS 2
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Fully migrate existing MoveIt packages to ROS 2
Reactive, closed-loop control to sensor input
Lifecycle management of MoveIt nodes
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Wrap up Acutronic's work porting core MoveIt functionality
Visual servoing, faster octomap updatesDeterministic startup, reset, & shutdown sequences
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Leverage ROS 2:
Preempt motion if new collision detected
Leverage ROS2 component nodes
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Build type (ament), middleware, logging, parameters
Seperate global and local planner (hybrid planning)
Ability to run MoveIt as single or multi-process
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Cleanup MoveIt 2 codebase
Global planner (full collision checking): ~30hzReplace pluginlib with components
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Local planner (IK-based, field-based): ~300hz
Cleanup API
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Zero-memory copy integration to controllers (ros_control)
More generic and standalone interfaces
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Tighter integration to ros_control
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Integrate pilz_industrial_motion
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MoveIt Survey Results
MoveIt Survey Results
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91% most excited about ROS 2 realtime control
47% excited about component nodes
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55% reactive planning and closed loop control
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48% better integration with lower level realtime control
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48% planning with dynamics
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Future Milestones
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DeterminismImproved Interfaces / State MachinesMachine Learning
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Out of box / default planners return reliable paths
Deprecate the Pick and Place pipeline
Neural-network based motion planning - new plugins
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Run multiple planners in parallel to address limitationsFully support the MoveIt Task ConstructorGeneral near-optimal heuristics for path planning
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Further optimize paths, improve path quality
First class support of state machines
e.g. MPNet
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Default use TOTG, TOPP time parameterization
Non-ROS C++ API
ML to generate DMPs for contact-rich interactions
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Use post-processing optimization (STOMP, TrajOpt)Similar to MoveGroup but without middleware
ML for grasp synthesis
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Fully featured Cartesian Planner
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Similar to Descartes but fully integrated as MoveIt planner
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Force-torque control
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NOT on roadmap
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Grasping capabilities
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Setup assistant improvements
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Mobile base planning
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Multi-robot support
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Bipeds
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