Development Roadmap

[marip8]

Purpose

• Define high-level development objectives for this repository
• Record/communicate changes and design decisions for community reference

Proposal

1. Use a comment in this discussion to propose a new release and describe high-level objectives, feature additions, changes, etc. Posts should include:
   • Target release date
   • Bullet point list of high-level feature/change descriptions
     • Include sub-bullets about why these features/changes are being added, if necessary
2. Create a Github project on this repository for the specific tasks associated with the next release (if it is big enough to warrant one)

[marip8]

Release 0.19.0

Target date

September 1, 2023

Proposed changes

Leverage CMake components in all packages for interface implementations, especially those that have third-party dependencies

This will enable the ability to optionally build various elements of tesseract, depending on what third-party dependencies a user is willing to support. For example, a user could choose not to build tesseract_collision with FCL or not to build tesseract_kinematics with OPW kinematics. Using CMake components also helps downstream packages detect whether or not certain modules were built

[marip8]

This is an after-the-fact post showing what sort of details we should include in the roadmap for future releases

[marip8]

Release 0.20.0

Target date

September 15, 2023

Proposed Changes

Add support for KDL NR JL inverse kinematics solver

The KDL NR JL solver is a generic gradient-based IK solver that considers joint limits during the optimization. Adding support for this solver class should help make solving IK for most robots more robust than the current methods that do not understand joint limits during the IK solve

Add serialization support for std::variant

Many tesseract data types are serializable to file to support with remote debugging use-cases. std::variant types are used in a variety of places in tesseract and tesseract_planning, so it would be useful to support its serialization

[marip8]

This is another after-the-fact post for the 0.20.0 release. @Levi-Armstrong @rjoomen feel free to amend the documentation here if necessary

[marip8]

Release 0.21.0

Target Date

Proposed Changes