CHANGELOG
Changelog for package moveit_servo
2.9.0 (2024-01-09)
Add command queue to servo to account for latency (#2594) * add command queue to servo to account for latency * run pre-commit * fix unsigned compare * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Fix wording Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * add comments and change variable names * add checks to determine what state information should be published * change latency parameter name * factor command queue out of servo instance * update demos * needs clean up but working well * deal with duplicate timestamps for sim * add acceleration limiting smoothing * add timeout check in filter * factor out robot state from servo call * update comments in smoothing pluin * fix tests * change velocity calculation to make interpolation not overshoot * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Update moveit_ros/moveit_servo/demos/cpp_interface/demo_joint_jog.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * fix time calculation * add check to ensure time interval is positive * simplify demos * wait for first robot state before starting servo loop * add comments to acceleration filter * fix wait time units * fix logic bug in smoothHalt and remove stopping point from trajectory message. Still some overshoot. * add acceleration limit to servo * remove acceleration filter * remove other filter files from moveit_core * add doc string and basic clean up * refactor getRobotState to utils and add a test * make some things const and fix comments * use joint_limts params to get robot acceleration limits * update demo config and set velocities in demos * fix acceleration calculation * apply collision_velocity_scale_ in smooth hault, add comments, and rename variables * use bounds on scaling factors in [0… 1] * remove joint_acceleration parameter * add test for jointLimitAccelerationScaling * refactor velocity and acceleration scaling into common function * general clean up, add comments, fix parameters, set timestamp in updateSlidingWindow, etc. * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * remove override_acceleration_scaling_factor * fix variable name * enable use_smoothing in demos * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <andyz@utexas.edu> * add current state to command queue if it is empty. This is needed since the time stamp is set in the updateSlidingWindow function now. * remove acceleration smoothing * revert jointLimitVelocityScalingFactor refactor * 1) fix spelling 2) add comments 3) make sure rolling_window always has current state if no command generated 4) fix smooth hault: stop command was not generated if smoothing disabled 5) call resetSmoothing when there are no commands ——— Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: AndyZe <andyz@utexas.edu>
MoveIt Servo should respect the AllowedCollisionMatrix (#2605) * MoveIt Servo should respect the AllowedCollisionMatrix * Formatting
[Servo] Make listening to octomap updates optional (#2627) * [Servo] Make listening to octomap updates optional * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
Update ros2_control usage (#2620) * Update ros2_control usage * Update xacro file
Making the error messages of moveit_servo::validateParams more expressive. (#2602)
Make moveit_servo listen to Octomap updates (#2601) * Start servo’s world geometry monitor * Typo fix ——— Co-authored-by: Amal Nanavati <amaln@cs.washington.edu>
Replaced single value joint_limit_margin with list of joint_limit_margin (#2576) * Replaced joint_limit_margin with list of margins: joint_limit_margin. Enabling setting individual margins for each joint. * Dimension comment update * Adding a dimension check within the validateParams() function of servo.cpp to give a clear error message if the size of joint_limit_margis does not match the number of joints of the move_group * Formatting fix Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Fix panda_simulated_config.yaml ——— Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Node logging in moveit_core (#2503)
Fix velocity scaling factor calculations and support multi-DOF joints in Servo (#2540)
Ensure to reset the smoothing plugin when resuming Servo (#2537)
[Servo] Change planning frame to base frame of active joint subgroup (#2515)
Fix threading issue for collision velocity scaling in MoveIt Servo (#2517)
Add distance to servo collision checker requests (#2511)
Use node logging in moveit_ros (#2482)
Smoothing plugin API update and bug fix (#2470) * Use Eigen::vector in smoothing plugin * Fix dependencies * Make args to reset const * Make KinematicState use Eigen::Vector * Mark params as unused * Fix type issues * Variable optimization Co-authored-by: AndyZe <andyz@utexas.edu> * Link against Eigen, not tf2_eigen * Don’t resize every time * Don’t reset the smoother_ every time * Initialize the kinematic state of the smoother * Cleanup ——— Co-authored-by: ibrahiminfinite <ibrahimjkd@gmail.com> Co-authored-by: V Mohammed Ibrahim <12377945+ibrahiminfinite@users.noreply.github.com>
Fix levels in servo logs (#2440)
Enable using a subgroup of the move group in servo (#2396) * Enable using a subgroup of the move group in servo * Remove unnecessary validations since the param is const * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Don’t copy joints if subgroup == move group * Re-add params_valid in validateParams * Generalize active subgroup delta calculation * Add more efficient move group joint position lookup * Create subgroup map in the constructor * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Update moveit_ros/moveit_servo/src/servo.cpp ——— Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Fix Servo singularity scaling unit tests (#2414) * Fix Servo singularity scaling unit tests * Fix Servo singularity scaling unit tests * Simplify tests * updateLinkTransforms is not needed after all
Merge branch ‘main’ into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
[Servo] Set static parameters as read-only (#2381) * Make some params read-only + grouping * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> * Allow dynamic initialization of velocity scales ——— Co-authored-by: AndyZe <andyz@utexas.edu>
Merge branch ‘main’ into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
[Servo] Fix bugs when halting for collision + transforming commands to planning frame (#2350)
Contributors: Amal Nanavati, AndyZe, Erik Holum, Marq Rasmussen, Nils-Christian Iseke, Paul Gesel, Sebastian Castro, Sebastian Jahr, Tyler Weaver, V Mohammed Ibrahim
2.8.0 (2023-09-10)
[Servo] Fix Twist transformation (#2311)
[Servo] Add additional info about twist frame conversion (#2295) * Update docstring + warning for twist frame conversion * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> * Suppress old-style-cast warnings ——— Co-authored-by: AndyZe <andyz@utexas.edu>
[Servo] Refactoring servo (#2224)
Replaced numbers with SystemDefaultsQos() (#2271)
Fix Servo suddenHalt() to halt at previous state, not current (#2229)
Fix the launching of Servo as a node component (#2194) * Fix the launching of Servo as a node component * Comment improvement Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Add launch argument ——— Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Revert central differencing calculation in servo (#2203) * Revert central differencing calculation in servo * current_joint_state_ to internal_joint_state_
Fix servo speed scaling YAML parameters (#2211)
Reset Servo filters when starting (#2186)
[Servo] Move enforcePositionLimits and enforceVelocityLimits to utilities (#2180) * Move limit enforcing functions to utilities * Fix comments * Make clock const * Remove clock from enforcePositionLimit * Remove clock usage from transformTwistToPlanningFrame and applyJointUpdates * Remove clock from vvelocityScalingFactorForSingularity * Fix tests * Cleanups + clang-tidy * Minor cleanups * Log output formatting
Change servo collision checking parameters to dynamically update (#2183)
Contributors: AndyZe, Sebastian Castro, Shobuj Paul, V Mohammed Ibrahim
2.7.4 (2023-05-18)
[Servo] Remove soon-to-be obsolete functions (#2175) * Remove unused functions * Remove drift and control dimension client in tests * Remove gazebo specific message redundancy
[Servo] Restore namespace to parameters (#2171) * Add namespace to parameters * Minor cleanups
[Servo] Fix stop callback, delete pause/unpause mode (#2139) Co-authored-by: AndyZe <andyz@utexas.edu>
[Servo] Make conversion operations into free functions (#2149) * Move conversion operations to free functions * Optimizations * Fix const references * Readability updates * Remove unused header * Comment update ——— Co-authored-by: AndyZe <andyz@utexas.edu>
[Servo] Avoid unnecessary checks for initializing ik_base_to_tip_frame (#2146) * Avoid unnecessary check * Make ik_base_to_tip_frame_ local * Remove use_inv_jacobian flag * Use nullptr instead of NULL * Alphabetize + clang-tidy * Remove unused header
[Servo] Update MoveIt Servo to use generate_parameter_library (#2096) * Add generate_parameter_library as dependency * Add parameters file * Update parameters file * Fix one_of syntax * Add parameter generation * Include servo param header * Test if parameters are loaded * Make servo_node partially use ParamListener * Make Servo partially use ParamListener * Make ServoCalcs partially use ParamListener * Fix frame name * Handle parameter updates * Remove old param lib dependency in CollisionCheck * Remove old param lib dependency in ServoCalcs * Remove old param lib dependency in Servo * Remove old param lib dependency in ServoNode * Remove old parameter librarysources * Remove parameter_descriptor_builder sources * Update parameter library header name * Formatting * Remove old param lib headers * Add parameter to enable/disable continous parameter update check * Update pose tracking demo * Fix launch time parameter loading for pose tracking * Move PID parameters to generate_parameter_library * Fix launch time parameter loading for servo example * Fix unit tests * Fix interface test * Fix pose tracking test * Redorder member variable initialization * Cleanup * Group parameters * Make parameter listener const * Revert disabled lint tests * Fix issues from rebase * Apply performance suggestion from CI * Apply variable naming suggestion from CI * Apply pass params by reference suggestion by CI * Apply review suggestions * Apply review suggestions * Remove unused parameter * Change parameter listener to unique_ptr * Add validations for some parameters * Changes from review * Make docstring more informative Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Change validation failure from warning to error * Fix parameter loading in test launch files * Remove defaults for robot specific params * Update description for params with no default value * Pass by reference * Clang-tidy Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> ——— Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: AndyZe <andyz@utexas.edu>
Contributors: Sebastian Castro, V Mohammed Ibrahim
2.7.3 (2023-04-24)
Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (#2135)
Document pausing better (#2128)
[Servo] Make applyJointUpdate() a free function (#2121) * Change variable names for improved readability * Fix issues from rebase * Move applyJointUpdate() to utilities * Fix comment * Fix old-style-cast * Use pluginlib::UniquePtr for smoothing class
Contributors: AndyZe, Jafar, V Mohammed Ibrahim
2.7.2 (2023-04-18)
Switch from qos_event.hpp to event_handler.hpp (#2111) * Switch from qos_event.hpp to event_handler.hpp * moveit_common: Add a cmake interface library to keep humble support on main * Include qos_event.hpp or event_handler.hpp depending on the ROS 2 version * Fix ament_lint_cmake * Fix clang-tidy * PRIVATE linking in some cases * Update moveit_common/cmake/moveit_package.cmake Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com> * Fix servo and cleanup excessive CMake variable usage * Cleanup & make compiling * Small variable naming and const cleanup * Restore OpenCV linking * Public/private linking fixup * Revert “Restore OpenCV linking” This reverts commit 57a9efa806e59223e35a1f7e998d7b52f930c263. ——— Co-authored-by: JafarAbdi <jafar.uruc@gmail.com> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com>
[Servo] Document the new low-pass filter param (#2114) * [Servo] Document the new low-pass filter param * More intuitive parameter ordering
Update pre-commit (#2094)
Compute velocity using central difference (#2080) * Compute velocity using central difference * Update calculation * Save and use x(t - dt) * Fix saving x(t - dt) * Fix confusing comment. * Explainer comment for last_joint_state_ Co-authored-by: AndyZe <andyz@utexas.edu> * Change x to q in comments to signify joint domain * Avoid pass-by-reference for basic types ——— Co-authored-by: AndyZe <andyz@utexas.edu>
Contributors: AndyZe, Sebastian Jahr, Shobuj Paul, V Mohammed Ibrahim
2.7.1 (2023-03-23)
Add callback for velocity scaling override + fix params namespace not being set (#2021)
Contributors: Sebastian Castro
2.7.0 (2023-01-29)
Merge PR #1712: fix clang compiler warnings + stricter CI
converted characters from string format to character format (#1881)
Update the Servo dependency on realtime_tools (#1791) * Update the Servo dependency on realtime_tools * Update .repos * Add comment
Fix more clang warnings
Fix warning: passing by value
Cleanup msg includes: Use C++ instead of C header (#1844)
Fix BSD license in package.xml (#1796) * fix BSD license in package.xml * this must also be spdx compliant
Minimize use of this-> (#1784) It’s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.
Enable -Wold-style-cast (#1770)
Add braces around blocks. (#999)
Use <> for non-local headers (#1734) Unless a header lives in the same or a child directory of the file including it, it’s recommended to use <> for the #include statement. For more information, see the C++ Core Guidelines item SF.12 https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else
Servo: Check frames are known before getting their TFs (#612) * Check frames are known before getting their TFs * Allow empty command frame - fixes tests * Address Jere’s feedback Co-authored-by: AndyZe <andyz@utexas.edu>
Fix clang-tidy issues (#1706) * Blindly apply automatic clang-tidy fixes * Exemplarily cleanup a few automatic clang-tidy fixes * Clang-tidy fixups * Missed const-ref fixups * Fix unsupported non-const -> const * More fixes Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Remove unused function in Servo (#1709)
Contributors: AdamPettinger, AndyZe, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Robert Haschke, Sameer Gupta
2.6.0 (2022-11-10)
Fix dead tutorial link (#1701) When we refactored the tutorials site it looks like we killed some links. Do we not have a CI job to catch dead links?
[Servo] CI simplification (#1556) This reverts commit 3322f19056d10d5e5c95c0276e383b048a840573.
[Servo] Remove the option for “stop distance”-based collision checking (#1574)
Merge PR #1553: Improve cmake files
Use standard exported targets: export_${PROJECT_NAME} -> ${PROJECT_NAME}Targets
Improve CMake usage (#1550)
[Servo] Use a WallRate so the clock is monotonically increasing (#1543) * [Servo] Use a WallRate so the clock is monotonically increasing * Re-enable a commented integration test
Disable flaky test_servo_singularity + test_rdf_integration (#1530)
Enforce singularity threshold when moving away from a singularity (#620) * Enforce singularity threshold behavior even when moving away from a singularity - Prevent uncontrolled behavior when servo starts close to a singularity and then servos away from it - Scale velocity at a different rate when approaching/leaving singularity - Add status code to distinguish between velocity scaling when moving towards/away from the singularity * Work on expanding servo singularity tests * Pre-commit * removed duplicate input checking * added 2 other tests * undid changes to singularity test * Update moveit_ros/moveit_servo/src/servo_calcs.cpp with Nathan’s suggestion Co-authored-by: Nathan Brooks <nbbrooks@gmail.com> * readability changes and additional servo parameter check * updating to newest design * added warning message * added missing semicolon * made optional parameter nicer * Remove outdated warning Co-authored-by: AndyZe <andyz@utexas.edu> * Removing inaccurate comment Co-authored-by: AndyZe <andyz@utexas.edu> * making Andy’s suggested changes, added some comments and defaults, moved code block next to relevant singularity code * removed part of comment that does not apply any more * Mention “deprecation” in the warning Co-authored-by: Henry Moore <henrygerardmoore@gmail.com> Co-authored-by: Henry Moore <44307180+henrygerardmoore@users.noreply.github.com> Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: AndyZe <andyz@utexas.edu>
Remove __has_include statements (#1481)
Servo: check for and enable a realtime kernel (#1464) * Check for and enable a realtime kernel * Set thread priority to 40. Link against controller_mgr. * Do it from the right thread
Contributors: AndyZe, Nathan Brooks, Robert Haschke, Sebastian Jahr, Vatan Aksoy Tezer
2.5.3 (2022-07-28)
Use kinematics plugin instead of inverse Jacobian for servo IK (#1434)
Contributors: Wyatt Rees
2.5.2 (2022-07-18)
Merge remote-tracking branch ‘origin/main’ into feature/msa
Removing more boost usage (#1372)
Merge remote-tracking branch ‘upstream/main’ into feature/msa
Removing some boost usage (#1331)
Remove unnecessary rclcpp.hpp includes (#1333)
Update Servo integration tests (#1336)
Minor cleanup of Servo CMakeLists (#1345)
Contributors: AndyZe, David V. Lu, Henry Moore, Jafar, Vatan Aksoy Tezer
2.5.1 (2022-05-31)
2.5.0 (2022-05-26)
Enable cppcheck (#1224) Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>
Make moveit_common a ‘depend’ rather than ‘build_depend’ (#1226)
Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
Delete an unused variable and a redundant log message (#1179)
[Servo] Add override parameter to set constant velocity scaling in Servo (#1169)
Rename panda controllers
Enable rolling / jammy CI (again) (#1134) * Use ros2_control binaries * Use output screen instead of explicitly stating stderr
Temporarily add galactic CI (#1107) * Add galactic CI * Comment out rolling * panda_ros_controllers -> panda_ros2_controllers * Ignore flake8 tests
1.1.9
Compilation fixes for Jammy and bring back Rolling CI (#1095) * Use jammy dockers and clang-format-12 * Fix unused depend, and move to python3-lxml * add ompl to repos, fix versions and ogre * Remove ogre keys * Fix boolean node operator * Stop building dockers on branch and fix servo null pointer * update pre-commit to clang-format-12 and pre-commit fixes * clang-format workaround and more pre-commit fixes
Explicitly set is_primary_planning_scene_monitor in Servo example config (#1060)
1.1.8
[hybrid planning] Add action abortion and test; improve the existing test (#980) * Add action abortion and test; improve the existing test * Add controller run-dependency * Fix the clearing of robot trajectory when a collision would occur * Fix replanning if local planner is stuck * Lambda function everything * Thread safety for stop_hybrid_planning_ * Thread-safe state_ * Clang tidy * Update the planning scene properly * Update Servo test initial_positions.yaml Co-authored-by: Tyler Weaver <tyler@picknik.ai>
Remove unused parameters. (#1018) Co-authored-by: Tyler Weaver <tyler@picknik.ai>
Add moveit_configs_utils package to simplify loading paramters (#591) Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> Co-authored-by: Tyler Weaver <tyler@picknik.ai>
1.1.7
1.1.6
Servo: sync position limit enforcement with MoveIt2 (#2898) * fix enforce position bug * remove unnecessary variable * make clang tidy happy * Update my comment * implement same logic as in the moveit2! repo * fix copy-pase error Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <andyz@utexas.edu>
Contributors: AndyZe, Cory Crean, Henning Kayser, Jafar, Jafar Abdi, Joseph Schornak, Marq Rasmussen, Michael Wiznitzer, Robert Haschke, Vatan Aksoy Tezer, jeoseo, v4hn
2.4.0 (2022-01-20)
Remove ‘using namespace’ from header files. (#994)
Servo: re-order velocity limit check & minor cleanup (#956)
moveit_build_options() Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE, and compiler options (namely warning flags) once. Each package depending on moveit_core can use these via moveit_build_options().
Contributors: AndyZe, Cory Crean, Robert Haschke
2.3.2 (2021-12-29)
2.3.1 (2021-12-23)
Servo: fix -Wunused-private-field (#937)
Add codespell to precommit, fix A LOT of spelling mistakes (#934)
Add descriptions and default values to servo parameters (#799)
Update README (#812)
Enforce package.xml format 3 Schema (#779)
Update Maintainers of MoveIt package (#697)
moveit_servo: Fix ACM for collision checking & PSM’s scene monitor topic (#673)
Fix initialization of PSM publisher in servo (#771)
Move initialization of ServoNode into constructor (#761)
Fix missing test depend in servo (#759)
Find/replace deprecated spawner.py (#737)
Fix the servo executable name (#746)
Use rclcpp::SystemDefaultsQoS in Servo (#721)
Use multi-threaded component container, do not use intraprocess comms in Servo (#723)
Disable use_intra_process_comms in servo launch files (#722)
Servo: minor fixups (#2759)
Contributors: AndyZe, Dave Coleman, David V. Lu!!, Henning Kayser, Jafar Abdi, Robert Haschke, Stephanie Eng, Tyler Weaver, toru-kuga
2.3.0 (2021-10-08)
Make TF buffer & listener in PSM private (#654)
Rename ServoServer to ServerNode (#649)
Fix std::placeholders namespace conflict (#713)
Publish singularity condition to ~/servo_server/condition (#695)
Skip publishing to Servo topics if input commands are stale (#707)
Delete duplicate entry in Servo launch file (#684)
Fix cmake warnings (#690) * Fix -Wformat-security * Fix -Wunused-variable * Fix -Wunused-lambda-capture * Fix -Wdeprecated-declarations * Fix clang-tidy, readability-identifier-naming in moveit_kinematics
Add standalone executable for Servo node, and example launch file (#621)
Validate return of getJointModelGroup in ServoCalcs (#648)
Migrate to joint_state_broadcaster (#657)
Add gripper and traj control packages as run dependencies (#636)
Fix warnings in Galactic and Rolling (#598) * Use __has_includes preprocessor directive for deprecated headers * Fix parameter template types * Proper initialization of smart pointers, rclcpp::Duration
Remove stray semicolon (#613)
Re-Enable Servo Tests (#603)
Fix missing include in servo example (#604)
Document the difference between Servo pause/unpause and start/stop (#605)
Wait for complete state duration fix (#590)
Delete “stop distance”-based collision checking (#564)
Fix loading joint_limits.yaml in demo and test launch files (#544)
Fixes for Windows (#530)
Refactor out velocity limit enforcement with test (#540)
Refactor moveit_servo::LowPassFilter to be assignable (#572)
Fix MoveIt Servo compilation on macOS (#555)
Fix segfault if servo collision checking is disabled (#568)
Remove gtest include from non-testing source (#2747)
Fix an off-by-one error in servo_calcs.cpp (#2740)
Contributors: AdamPettinger, Akash, AndyZe, Griswald Brooks, Henning Kayser, Jafar Abdi, Joseph Schornak, Michael Görner, Nathan Brooks, Nisala Kalupahana, Tyler Weaver, Vatan Aksoy Tezer, luisrayas3, Lior Lustgarten
2.2.1 (2021-07-12)
moveit_servo: Add a parameter to halt only joints that violate position limits (#515) Add halt_all_joints_in_joint_mode & halt_all_joints_in_cartesian_mode parameters to decide whether to halt all joints or some of them in case of joint limit violation
Contributors: Jafar Abdi
2.2.0 (2021-06-30)
Allow a negative joint margin (#501)
Move servo doc and examples to moveit2_tutorials (#486)
Remove faulty gtest include (#526)
Fix segfault when publish_joint_velocities set to false and a joint is close to position limit (#497)
Enable Rolling and Galactic CI (#494)
[sync] MoveIt’s master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4 * Misspelled MoveIt (#2692) * Avoid joint jump when SuddenHalt() is called in velocity mode (#2594) * Halt Servo command on Pose Tracking stop (#2501) * stop_requested_ flag clearing fix (#2537) * add missing include (#2519) * Refactor velocity bounds enforcement (#2471)
Contributors: AdamPettinger, AndyZe, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Michael Görner, Nathan Brooks, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, parunapu
2.1.4 (2021-05-31)
Delete MoveIt fake_controller_manager (#471)
Contributors: AndyZe
2.1.3 (2021-05-22)
Refactor Servo velocity bounds enforcement. Disable flaky unit tests. (#428)
Fix joint limit handling when velocities aren’t included in robot state (#451)
Fix Servo logging frequency (#457)
Replace last ament_export_libraries macro calls with ament_export_targets (#448)
Contributors: AndyZe, Sebastian Jahr, Vatan Aksoy Tezer
2.1.2 (2021-04-20)
Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <zelenak@picknik.ai>
Unify PickNik name in copyrights (#419)
Contributors: Tyler Weaver, Vatan Aksoy Tezer
2.1.1 (2021-04-12)
Do not output positions at all if they are set to false (#410)
Update launch files to use ros2 control spawner (#405)
Include boost optional in pose_tracking (#406)
Use fake_components::GenericSystem from ros2_control (#361)
Fix EXPORT install in CMake (#372)
moveit servo: fix constructing duration from double & fix bug in insertRedundantPointsIntoTrajectory function (#374)
port pose tracking (#320)
Fix ‘start_servo’ service topic in demo
Sync main branch with MoveIt 1 from previous head https://github.com/ros-planning/moveit/commit/0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e up to https://github.com/ros-planning/moveit/commit/74b3e30db2e8683ac17b339cc124675ae52a5114
Protect paused_ flag, for thread safety (#2494)
Do not break out of loop – need to update low pass filters (#2496)
[Servo] Fix initial angle error is always 0 (#2464)
Add an important sleep in Servo pose tracking (#2463)
Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
[feature] Low latency mode (#2401)
Move timer initialization down to fix potential race condition
Contributors: Abishalini Sivaraman, AdamPettinger, AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Nathan Brooks, Tyler Weaver
2.1.0 (2020-11-23)
[maint] Wrap common cmake code in ‘moveit_package()’ macro (#285) * New moveit_package() macro for compile flags, Windows support etc * Add package ‘moveit_common’ as build dependency for moveit_package() * Added -Wno-overloaded-virtual compiler flag for moveit_ros_planners_ompl
[ros2-migration] Port moveit_servo to ROS 2 (#248) * Ports the source from MoveIt * Adds examples (C++ interface, composable node interface, teleoperation demo for gamepad) * Adds integration and unit tests
Contributors: Adam Pettinger, Henning Kayser, Lior Lustgarten, Tyler Weaver
1.1.1 (2020-10-13)
[feature] A library for servoing toward a moving pose (#2203)
[feature] Refactor velocity limit enforcement and add a unit test (#2260)
[fix] Servo thread interruption (#2314)
[fix] Servo heap-buffer-overflow bug (#2307)
[maint] Cleanup MSA includes (#2351)
Contributors: AndyZe, Robert Haschke, Tyler Weaver
1.1.0 (2020-09-04)
[feature] Update last_sent_command_ at ServoCalcs start (#2249)
[feature] Add a utility to print collision pairs (#2275)
[fix] Various fixes for upcoming Noetic release (#2180)
[maint] add soname version to moveit_servo (#2266)
[maint] delete python integration tests (#2186)
Contributors: AdamPettinger, AndyZe, Robert Haschke, Ruofan Xu, Tyler Weaver, v4hn
1.0.6 (2020-08-19)
[feature] A ROS service to reset the Servo status (#2246)
[feature] Check collisions during joint motions, too (#2204)
[fix] Correctly set velocities to zero when stale (#2255)
[maint] Remove unused yaml param (#2232)
[maint] Adapt repository for splitted moveit_resources layout (#2199)
[maint] Migrate to clang-format-10
Contributors: AndyZe, Robert Haschke, Ruofan Xu, Michael Görner
1.0.5 (2020-07-08)
[maint] Minor moveit_servo header cleanup (#2173)
[maint] Move and rename to moveit_ros/moveit_servo (#2165)
[maint] Changes before porting to ROS2 (#2151) * throttle warning logs * ROS1 Basic improvements and changes * Fixes to drift dimensions, singularity velocity scaling * tf name changes, const fixes, slight logic changes * Move ROS_LOG_THROTTLE_PERIOD to cpp files * Track staleness of joint and twist seperately * Ensure joint_trajectory output is always populated with something, even when no jog * Fix joint trajectory redundant points for gazebo pub * Fix crazy joint jog from bad Eigen init * Fix variable type in addJointIncrements() * Initialize last sent command in constructor * More explicit joint_jog_cmdand twist_stamped_cmdnames * Add comment clarying transform calculation / use
[fix] Fix access past end of array bug (#2155)
[maint] Remove duplicate line (#2154)
[maint] pragma once in jog_arm.h (#2152)
[feature] Simplify communication between threads (#2103) * get latest joint state c++ api * throttle warning logs * publish from jog calcs timer, removing redundant timer and internal messaging to main timer * outgoing message as pool allocated shared pointer for zero copy * replace jog_arm shared variables with ros pub/sub * use built in zero copy message passing instead of spsc_queues * use ros timers instead of threads in jog_arm
[feature] Added throttle to jogarm accel limit warning (#2141)
[feature] Time-based collision avoidance (#2100)
[fix] Fix crash on empty jog msgs (#2094)
[feature] Jog arm dimensions (#1724)
[maint] Clang-tidy fixes (#2050)
[feature] Keep updating joints, even while waiting for a valid command (#2027)
[fix] Fix param logic bug for self- and scene-collision proximity thresholds (#2022)
[feature] Split collision proximity threshold (#2008) * separate proximity threshold values for self-collisions and scene collisions * increase default value of scene collision proximity threshold * deprecate old parameters
[fix] Fix valid command flags (#2013) * Rename the ‘zero command flag’ variables for readability * Reset flags when incoming commands timeout * Remove debug line, clang format
[maint] Use default move constructor + assignment operators for MoveItCpp. (#2004)
[fix] Fix low-pass filter initialization (#1982) * Pause/stop JogArm threads using shared atomic bool variables * Add pause/unpause flags for jog thread * Verify valid joints by filtering for active joint models only * Remove redundant joint state increments * Wait for initial jog commands in main loop
[fix] Remove duplicate collision check in JogArm (#1986)
[feature] Add a binary collision check (#1978)
[feature] Publish more detailed warnings (#1915)
[feature] Use wait_for_service() to fix flaky tests (#1946)
[maint] Fix versioning (#1948)
[feature] SRDF velocity and acceleration limit enforcement (#1863)
[maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
[fix] JogArm C++ API fixes (#1911)
[feature] A ROS service to enable task redundancy (#1855)
[fix] Fix segfault with uninitialized JogArm thread (#1882)
[feature] Add warnings to moveit_jog_arm low pass filter (#1872)
[maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (#1607)
[fix] Fix initial end effector transform jump (#1871)
[feature] Rework the halt msg functionality (#1868)
[fix] Various small fixes (#1859)
[maint] Improve formatting in comments
[fix] Prevent a crash at velocity limit (#1837)
[feature] Remove scale/joint parameter (#1838)
[feature] Pass planning scene monitor into cpp interface (#1849)
[maint] Move attribution below license file, standardize with MoveIt (#1847)
[maint] Reduce console output warnings (#1845)
[fix] Fix command frame transform computation (#1842)
[maint] Fix dependencies + catkin_lint issues
[feature] Update link transforms before calling checkCollision on robot state in jog_arm (#1825)
[feature] Add atomic bool flags for terminating JogArm threads gracefully (#1816)
[feature] Get transforms from RobotState instead of TF (#1803)
[feature] Add a C++ API (#1763)
[maint] Fix unused parameter warnings (#1773)
[maint] Update license formatting (#1764)
[maint] Unify jog_arm package to be C++14 (#1762)
[fix] Fix jog_arm segfault (#1692)
[fix] Fix double mutex unlock (#1672)
[maint] Rename jog_arm->moveit_jog_arm (#1663)
[feature] Do not wait for command msg to start spinning (#1603)
[maint] Update jog_arm README with rviz config (#1614)
[maint] Switch from include guards to pragma once (#1615)
[maint] Separate moveit_experimental packages (#1606)
[feature] Use UR5 example (#1605)
[feature] Sudden stop for critical issues, filtered deceleration otherwise (#1468)
[feature] Change 2nd order Butterworth low pass filter to 1st order (#1483)
[maint] Remove ! from MoveIt name (#1590)
[feature] JogArm: Remove dependency on move_group node (#1569)
[fix] Fix jog arm CI integration test (#1466)
[feature] A jogging PR for Melodic. (#1360) * Allow for joints in the msg that are not part of the MoveGroup. * Switching to the Panda robot model for tests. * Blacklist the test as I can’t get it to pass Travis (fine locally). * Throttling all warnings. Fix build warning re. unit vs int comparison. * Continue to publish commands even if stationary * Scale for ‘unitless’ commands is not tied to publish_period. * New function name for checkIfJointsWithinBounds() * Configure the number of msgs to publish when stationary. * Run jog_calcs at the same rate as the publishing thread. * Better comments in config file, add spacenav_node dependency * Add spacenav_node to CMakeLists.
Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer