GSoC 2025 – Shu Xiao

Project 8: Migration and Enhancement of ‘Machine Vision’ Exercise to ROS2 + MoveIt2 in Robotics Academy

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📌 Overview

This project focused on migrating the Machine Vision exercise from the legacy Robotics Academy (ROS1 + MoveIt1) to the modern ROS2 + MoveIt2 ecosystem.
The result is a robust, modular, and student-friendly exercise aligned with current ROS2 best practices, providing both educational clarity and technical longevity.

🔧 Main Contributions

• ROS2 Migration
  • Ported the simulation environment and robot description to ROS2 standards.
• Perception Pipeline
  • Updated color and shape filters with improved PCL (Point Cloud Library) integration.
• API & HAL Development
  • Designed a modernized Python API and Hardware Abstraction Layer (HAL) for seamless student interaction.
• Web-Based Exercise
  • Integrated the exercise into the Robotics Academy web platform with interactive UI.
• Documentation
  • Authored detailed documentation for maintainers and students, including setup, usage, and extension guides.

🎯 Outcomes

• A ROS2-compatible exercise that is easy to maintain and extend.
• Clear modularization for student experimentation with perception, planning, and control.
• A solid foundation for future exercises in Robotics Academy.

🔗 Resources

• Code Repository: IndustrialRobots Package
• Final Demo: YouTube Video
• Project Blog: GSoC 2025 Blog – Shu Xiao
• Final Report: GSoC 2025 Final Report – Shu Xiao

👤 Author

Shu Xiao
Google Summer of Code 2025 Contributor
Project under JdeRobot