Felix von Drigalski reported on his participation in the MoveIt Workshop 2019. The workshop covered new features in the MoveIt ecosystem like the MoveIt Task Constructor and MoveIt Grasps. Progress was also discussed on porting MoveIt to ROS2 and roadmaps for the future, including real-time robotics integration and robot skill learning. Felix also discussed how OMRON SINIC X is using MoveIt for applications such as assembly planning and regrasping under uncertainty.

1. MoveIt Workshop 2019参加報告
Felix von Drigalski
Senior Researcher, OMRON SINIC X Corporation
2019/11/29 @ ROS 勉強会

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MoveItの例
World Robot Summit Assembly Challenge 2018 (4th place, SICE Special Award)
コードは
オープン:
github.com/
o2as/ur-o2as
ROSConJP2019発表
をご覧ください

3. 2© OMRON Corporation All Rights Reserved
11月20日：World MoveIt Day 2019
&

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MoveIt Workshop 2019
ROSCon 2019
MoveIt Workshop 2019
IROS 2019
土
2日
金
1日
木
30日
月
4日
金
8日
10月 11月
- 開発者向けイベント
- MoveItの進捗と方針
- MoveIt2やUXの相談

5. 4© OMRON Corporation All Rights Reserved
MoveIt Workshop

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Key New Features In MoveIt Ecosystem
● MoveIt Task Constructor
● Task Planning
● Robert Haschke,Michael Görner
● MoveIt Grasps
● Geometric-based grasp generation
● MikeLautman,DaveColeman
● MoveIt Cpp
● Advanced API for performance
● HenningKayser
● MoveIt JogArm
● Realtimeteleoperation planner
● Andy Zelenak
● CHOMP Planning Adapter
● Post-proccessingof OMPL-generated plans
● Raghavender Sahdev
● Iterative Cubic Spline Algorithm
● Smoother trajectory generation
● Ken Anderson
● Time-Optimal Trajectory Parameterization
● Follow path within boundson accelerations& velocities
● Michael Ferguson,HenningKaiser
● Named Frameson Collision Objects
● Subframesfor placingobjects
● Felix von Drigalski

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MoveIt Task Constructor

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MoveIt Grasps

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MoveIt Cpp Interface

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Named Frames on Collision Objects

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Optimizations Based On Levi's Work
● TrajOpt
● Optimization-based motion planner
● Levi Armstrong,Omid Heidari
● BulletCollisionChecker
● Alternativemotion planner
JensPetit
● UnifiedCollisionEnvironmentforSpeedup
● Combinerobot and environment intoonescene
● JensPetit
● Speedups w ithEigen::Isometry3d
● Faster linear algebraoperations

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Other Improvements
● Faster Inverse KinematicsSolvers
● RobertHaschke
● WindowsSupport
● SpecialbuildrulesfromMicrosoft
● New Inverse Kinematic Solvers
● KDL,IKFast,LMA
● Easier Quick Start in the Setup Assistant
● SetupforGazeboandros_control
● Better Benchmarking Suite
● Improvedstatistics,comparisons,simplification
● Improved quality of Cartesian paths
● Jumpthreshold
● FCL shape cache thread-local for speedup
● Fastercollisionchecking
● Improved Rviz motion planning plugin
● Betteruserinterfaces
● Constraint approximation databases
● Speedupplanningindifficultregions
● Realtime RoboticsRapidPlan Integration
● PluginforFPGA-basedcollisionchecking

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MoveIt 2.0 Alpha - Progress
● Mostofmoveit_coremoveit_ros portedtoROS2
● 11externaldependencies havebeenported
● FunctionalCIinfrastructure:moveit_ci
● Capabilityforsimpleplanningtojoint-stategoal
● ExampleROS 2controlframew orkforAcutronic’s MARA robot
● EngagedPickNiktohelpadvisethem
● PickNikandthemaintainers helpedsignific
a
n tlyw ithportingthe
dependencies,andportingMoveItCItoROS 2

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Roadmap & Plans
- 実行中ロボットの構造の変更(関節・ジオメトリー)
- Rviz GUIでカリブレーション
- Rvizで関節ジョギング
- 統一定食環境
- TrajOpt

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MoveIt @ OMRON SINIC X

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- ロボットスキル学習
(Robot skill learning)
- 不確定性でもリグラスプ
(Regrasping under uncertainty)
- アセンブリープランニング
(Assembly planning)
などなど
MoveIt @ OMRON SINIC X

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OMRON SINIC X Corporation
omron.com/sinicx
internships@sinicx.com
開発者バイト募集中！