0.8.7 (2017-04-03)

• [fix] gcc6 build error (#471, #458)
• [fix] Always update initial robot state to prevent dirty robot state error. #448
• Contributors: Dave Coleman, Henning Kayser

0.8.6 (2017-03-08)

0.8.4 (2017-02-06)

• [maintenance] Replace last easy explicit shared_ptrs with MOVEIT_CLASS_FORWARD.
• [test] fetch moveit_resources path at compile time
• Contributors: Dave Coleman, Isaac I.Y. Saito, Maarten de Vries, Robert Haschke

0.8.3 (2016-08-19)

0.7.0 (2016-01-30)

• Removed trailing whitespace from entire repository
• Fixed include directory order to make ros package shadowing work.
• fixing internal storing of config settings
• Make sure an overlayed OMPL is used instead of the ROS one.
• fix simplifySolutions(bool) setter The method simplifySolutions(bool) always set the simplify_solutions member to true and the input variable "flag" was ignored. The method is fixed by setting the simplify_solutions member to the value of the input variable "flag".
• changed location of getDefaultPlanner
• Contributors: Bastian Gaspers, Christian Dornhege, Dave Coleman, Dave Hershberger, Sachin Chitta

0.6.7 (2014-10-28)

• Changed OMPL SimpleSetup member variable to shared pointer, passed MotionPlanningRequest to child function
• Simplified number of solve() entry points in moveit_planners_ompl
• Fixed uninitialized ptc_ pointer causing a crash.
• renamed newGoal to new_goal for keeping with formatting
• setting GroupStateValidityCallbackFn member for constraint_sampler member and implementing callbacks for state validity checking
• added functions to check validit of state, and also to act as callback for constraint sampler
• Added copy function from MoveIt! robot_state joint values to ompl state
• fix for demo constraints database linking error
• Namespaced less useful debug output to allow to be easily silenced using ros console
• Contributors: Dave Coleman, Dave Hershberger, Sachin Chitta, arjungm

0.6.6 (2014-07-06)

• indigo version of moveit planners
• fix compile error on Indigo
• Fix for getMeasure() virtual function OMPL change
• Move OMPL paths before catkin to avoid compilation against ROS OMPL package when specifying a different OMPL installation
• Fixed bug which limited the number of plans considered to the number of threads.
• Contributors: Alexander Stumpf, Chris Lewis, Dave Coleman, Ryan Luna, Sachin Chitta

0.5.5 (2014-03-22)

• update build system for ROS indigo
• Removed duplicate call to setPlanningScene(), added various comments
• Contributors: Dave Coleman, Ioan Sucan

0.5.4 (2014-02-06)

• fix segfault when multiple goals are passed to move_group

0.5.3 (2013-10-11)

• update to new API

0.5.2 (2013-09-23)

• porting to new robot state

0.5.1 (2013-08-13)

• make headers and author definitions aligned the same way; white space fixes
• namespace change for profiler

0.5.0 (2013-07-15)

0.4.2 (2013-07-12)

• white space fixes (tabs are now spaces)
• port ompl plugin to new base class for planning_interface (using planning contexts)

0.4.1 (2013-07-04)

• use new location of RRTstar, add PRMstar
• Added new cost function that takes into account robot joint movements
• Added ability for parameter sweeping by allowing parameters to be changed in planning contexts
• Added ability to alter configs in a cache

0.4.0 (2013-05-27)

• propagating changes from moveit_core

0.3.11 (2013-05-02)

• remove some debug output and add some fixes
• some fixes for planning with constraint approximations
• more refactoring; what used to work (including using constraint approximations) works fine. explicitly storing motions is not yet done
• refactor constraints storage stuff
• display random motions in a slightly more robust way
• remove follow constraints API
• combine ompl_interface and ompl_interface_ros
• don't print status
• remove option for ordering constraint approximations (and fix #12)
• add test for jumping configs
• use project() instead of sample() for producing goals
• minor fixes and add demo database construction code
• switch to using the profiler in moveit and add one more debug tool

0.3.10 (2013-04-17)

• Merge branch 'groovy-devel' of github.com:ros-planning/moveit_planners into groovy-devel
• remove incorrect dep
• add dynamic reconfigure options for #2

0.3.9 (2013-04-16 13:39)

• disable old style benchmarking

0.3.8 (2013-04-16 11:23)

• fix #8
• use namespace option in ompl plugin
• remove unused functions
• add buildtool depends
• Fixed state deserialization: now update var transform too
• collapse OMPL plugin to one package
• robustness fix
• Fixed github url name

0.3.7 (2013-03-09)

• Remove configure from PlanningScene
• add multi-collision to PlanningScene
• renaming kinematic_model to robot_model

0.3.6 (2013-02-02)

• complete renaming process
• rename KinematicState to RobotState, KinematicTrajectory to RobotTrajectory
• propagating fixes from moveit_core
• use new robot_trajectory lib

0.3.5 (2013-01-28)

• fix reporting of goal collisions
• add some verbose output for failing goals
• port to new DisplayTrajectory message
• propagate API changes from planning_interface
• minor fix
• use the project() method to improve constraint following algorithm
• change default build flags

0.3.4 (2012-12-20 23:59)

• dynamic_reconfigure workaroung

0.3.3 (2012-12-20 21:51)

• update dyn reconfig call

0.3.2 (2012-12-20 13:45)

• fix call to obsolete function

0.3.1 (2012-12-19)

• using the constraint sampler loading library
• make sure sampled goals are valid
• fix buildtool tag

0.3.0 (2012-12-10)

• add a debug msg
• re-enable heuristic
• first working version of follow planner
• most of the follow alg, but not 100% complete yet
• pass valid state samplers into the follow algorithm
• add constrained valid state sampler
• minor fixes
• fixes some catkin CMakeLists issues
• add code to allow execution of follow()
• port test to groovy
• placeholder for to-be-added algorithm
• minor touch-ups; no real functional changes other than a bias for state samplers wrt dimension of the space (when sampling in a ball of dimension D, focus the sampling towards the surface of the ball)
• minor & incomplete fix

0.2.5 (2012-11-26)

• update to new message API

0.2.4 (2012-11-23)

• improve error message
• stricter error checking
• update include path

0.2.3 (2012-11-21 22:47)

• use generalized version of getMaximumExtent()

0.2.2 (2012-11-21 22:41)

• more fixes to planners
• removed bad include dir
• fixed some plugin issues
• fixed include dirs in ompl ros interface
• added gitignore for ompl/ros

0.2.1 (2012-11-06)

• update install location of include/

0.2.0 (2012-11-05)

• udpate install targets

0.1.2 (2012-11-01)

• bump version
• install the plugin lib as well
• add TRRT to the list of options

0.1.1 (2012-10-29)

• fixes for build against groovy

0.1.0 (2012-10-28)

• port to groovy
• added some groovy build system files
• more moving around of packages