ROS release?

[simonschmeisser]

I'm currently spending some time on integrating trajopt as a MoveIt planner and was wondering if there are plans for a release to the ros noetic build farm? I have seen tesseract has been released already.

[simonschmeisser]

moveit/moveit#3235 is my WIP branch for adding collision terms

[Levi-Armstrong]

It would probably be easier and quicker to write a moveit planner plugin which wraps tesseract. The performance will not be good if using moveit collision checking.

[simonschmeisser]

Yes that's another attractive approach, I'll try to implement that as well to see if I can reproduce your collision checking performance plot (or do you have the source somewhere?)

(tesseract_planning has not been released either, right?)

[Levi-Armstrong]

It is not, mostly because some of the dependencies are not release like osqp. I reached out to @esteve to see about being added as maintainer to fix the issue. I think after this is release it should be possilble to release tesseract_planning and tesseract_ros.

[simonschmeisser]

Hi Levi,
if I understood things correctly osqp has been released in the mean time?

[Levi-Armstrong]

I believe so.

[simonschmeisser]

friendly ping 😃