Use `panda_moveit_config` or `moveit_resources_panda_moveit_config`? Unclear the direction and rationale about moveit2_tutorials HOT 4 OPEN

Pinging @DLu, @JafarAbdi, @sea-bass @rhaschke as I see your guys' names in the referenced pages.

from moveit2_tutorials.

Potential hint was found at #59 (comment), but not enough.

from moveit2_tutorials.

I repeat my objection from #61 (comment) for clarity:

The tutorials should not depend on moveit_resources_panda_moveit_config (which is a minimal version of panda_moveit_config referring to a minimal version of the URDF model as well), but use the official panda_moveit_config package instead, which uses the official URDF from franka_description.

from moveit2_tutorials.

@rhaschke Please review the following and see if you can agree.

Discussed in moveit maintainers' mtg. I heard @henningkayser or someone from maintainers will comment here, but my understanding was to stick to moveit_resources based on the following:

• moveit2_tutorials should refer to moveit_resources as the first place to look up robot resource.
• panda_moveit_config is a "vendor package", so changes that moveit2_tutorials need can't always be made there.
  • In hindsight, I'm not sure what that means, particularly when the repo is under ros-planning org. Is the repo maintained by vendor and there's no non-vendor maintainers on that repo?
• moveit2 tutorials is migrating to kinova.

It's in the mtg minutes as well, citing here:

[Isaac] Robert says the tutorials shouldn’t depend on the moveit_resources versions
[Henning] He isn’t wrong. We have been using moveit_resources because we can easily update it and Franka is not actively maintaining their configs. We shouldn’t make moveit_resources depend on the franka repo. We are also transitioning to kinova arm in tutorials.
[Alex] Because Robert objected to Kinova configs being merged into moveit_resources we put in its own repo. It would be easier if all our configs were in one place but it does make sense that each robot should be in its own place.
[Tyler] You are welcome to use Kinova for your tutorial if that is easier.
[Isaac] Are you accepting PRs for non-Kinova arms?
[Tyler] Yes, we are happy to accept PRs with either. Thank you for working on this.

My personal comment as a community user: Obvious caveat is maintaining almost duplicate (if there's an upstream exists like the case with panda), but I assume communication overhead with vendors often kills the benefit of using upstream?

from moveit2_tutorials.