Week 4
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GSOC Coding Week 4 Progress Report
Week 4: Researching ROS 2 and MoveIt 2 Migration
With the Gazebo environment and algorithm stabilized, this week focused on research and planning for the ROS 2 + MoveIt 2 migration. The goal is to modernize the entire machine vision workflow by leveraging ROS 2’s improved architecture and MoveIt 2’s real-time planning capabilities.
What I Did This Week
- Studied ROS 2 architecture: looked into launch systems, node lifecycles, and changes from ROS 1 to ROS 2
- Reviewed MoveIt 2 tutorials: explored how motion planning interfaces differ and how to configure MoveIt setup assistants in ROS 2
- Mapped out migration plan: identified all critical nodes (camera, perception, planning) and how they’ll be restructured in ROS 2
- Prepared a ROS 2 workspace with the basic package scaffolding
Although most of the week was research-heavy, this foundational work will guide the migration over the coming weeks.
Next Steps
Starting in Week 5, the focus will shift from research to implementation:
- Begin migrating camera and perception nodes to ROS 2
- Configure and launch MoveIt 2 with the existing URDF and planning pipeline
- Test basic motion execution in the new ROS 2 environment
📍 Posted from Barcelona, Spain
🧠 Project: Migration and Enhancement of Machine Vision Exercise to ROS2 + MoveIt2
