Michael ’v4hn’ Görner
hme@v4hn.dei
ROSCon 2017 / Vancouver

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About Myself

Since 2016 PhD student atHamburg University, Group TAMS
Since 2007 maintainer with theLinux Distribution Lunar-Linux
Since 2013 involved with ROS-enabled
hardware including PR2, UR, Shadow Hands
Joined MoveIt Maintainers in 2016
after using it for two years

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Out Of The Box

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User Experiences
The Good
Yes, of course we use MoveIt!
It works great for our purposes.

The BadYeah, we tried MoveIt..
We didn’t get it to work [sufficiently well].
Now we roll our own code.

The In-Between
Well, we use it for some things.
For others we had to use other projects.

4 / 18On Stability

5 / 18On Stability
Ulrich Drepper, 2002
No program which depends on broken behavior deservesprotection. If a programmer has found such a discrepancy
and changed the application to use it instead of reporting itto the library maintainer s/he gets what s/he deserves.

5 / 18On Stability
Ulrich Drepper, 2002
No program which depends on broken behavior deservesprotection. If a programmer has found such a discrepancy
and changed the application to use it instead of reporting itto the library maintainer s/he gets what s/he deserves.
I It’s not as simple when your code decides controls

for costly robots
I Stability is essential
I Correct implementations too
I We added SONAMEs forlibrary versioning

I indigo is stable
I kinetic will stay API

compatible
I lunar is still released fromkinetic-devel
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The Last Two Years
The Commit History

I Merged code into a central repository
I Closed 379 pull-requests
I Fixed many bugs
I Added many small features to the main project
I New 2017 Video Montage

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Upgrade to Current Release for

I Numerous bug fixes
I Visual Collision Matrix in Setup Assistant
I Synchronous Planning Scene Updates
I Start State Validation for Execution Action
I Interactive Trajectory Display
I Minimum-distance solutions in ikfast plugin
I Alternative Time ParametrizationI ...

7 / 18MoveIt by Example

8 / 18MoveIt by Example

Where to go from here
I Choose Joint State Targets
I Add Padding
I Reduce Joint Limits

I Configure different OMPLplanners
I ...
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Upgrade with STOMPhttp://wiki.ros.org/industrial_moveit
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Upgrade with Descartes

http://wiki.ros.org/descartes
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Upgrade Grasping
I Grasping is the most frequent request but no solved problem
I MoveIt supports your solutions in your scenario
I Universal and affordance grasping requires perception models

I Some projects provide grasps you can “feed” to MoveIt

https://github.com/davetcoleman/moveit_simple_grasps
https://www2.ccs.neu.edu/research/helpinghands/code.html
https://github.com/TAMS-Group/moveit_gpd_pick_object
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Upgrade Visualization
MoveIt Visual Toolshttps://github.com/ros-planning/moveit_visual_tools

Reuleaux

https://github.com/ros-industrial-consortium/reuleaux

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BioIK - A kinematics base plugin

I New Inverse Kinematics Plugin
I Master Thesis by Philipp Ruppel at TAMSI Based on Genetic Algorithms & Particle Swarm Optimization

I Efficient parallelized implementation
I Improves on TracIK in success rate and performance
I Allows for intuitive approximate solutions
I Handle multiple goals (including secondary objectives)
I Better generic support for 6=6DOF

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BioIK

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BioIK
Various Goal Types
I Position

I MinimumDisplacement

I Orientation

I KeepContact

I PoseI BalanceCenterOfMass

I LookAt

I AvoidJointLimits

I JointVariable

I (Min|Max)Distance

I CenterJoints

I Lambda

Available athttps://github.com/TAMS-Group/bio_ik
Official release coming soon
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Save The Date!

I Takes place at October 18th
I Event Locations at

Verb Surgical,
San Francisco Bay Area
I Magazino,Munich, Germany
II

Shadow Robot, London, UKI

SwRI, San Antonio

I...

Join The Event!
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Upgrade MoveIt!
Upgrade Your Experience
Check current releases

Upgrade Your Possibilities
Consider third-party components

Upgrade MoveIt!
Contribute working time and/or useful modules

MoveIt is a default for robotic manipulation in ROS.
Please help us move forward!

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Questions?

Many Thanks toAll original authors - All maintainers
Everyone who contributed time & effort
Philipp Ruppel - Norman Hendrich
Henning Kayser - Benjamin Scholz

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