1.1.16 (2024-10-07)

1.1.15 (2024-09-09)

• Fix constrained-based planning / PoseModelStateSpace (#3615)
• Contributors: Robert Haschke

1.1.14 (2024-05-27)

• Support ompl::ompl cmake target (#3549)
• Install generate_state_database.launch (#3510)
• Contributors: Michael Görner

1.1.13 (2023-07-28)

1.1.12 (2023-05-13)

• Add AITstar, BITstar and ABITstar planners from OMPL >= 1.5 (#3347)
• Differential drive for planar Joints (#3359)
• Fix (some) doxygen warnings (#3315)
• Contributors: Robert Haschke, Scott Chow, alaflaquiere

1.1.11 (2022-12-21)

• Improve processing of multiple planning attempts: skip remaining planning attempts if solution was found (#3261)
• Convert OMPL status to MoveItErrorCode in the OMPL interface (#3257)
• Contributors: AndyZe, Robert Haschke

1.1.10 (2022-09-13)

• Remove ConstraintSampler::project() (#3170)
• Replace bind() with lambdas (#3106)
• Cleanup OMPL's PlanningContextManager's protected API
• planning_context_manager: rename protected methods
• Contributors: Michael Görner, Robert Haschke

1.1.9 (2022-03-06)

1.1.8 (2022-01-30)

1.1.7 (2021-12-31)

• Use termination condition for simplification step (#2981)
• Switch to std::bind (#2967)
• Contributors: Jochen Sprickerhof, Simon Schmeisser

1.1.6 (2021-11-06)

• Use newly introduced cmake macro moveit_build_options() from moveit_core
• Fix ConstrainedGoalSampler (#2811): actually call sample() (#2872)
• Provide override for missing isValid method (#2802)
• Add missing dependencies to generated dynamic_reconfigure headers (#2772)
• clang-tidy: modernize-make-shared, modernize-make-unique (#2762)
• Contributors: Mathias Lüdtke, Michael Görner, Robert Haschke, pvanlaar, v4hn, werner291

1.1.5 (2021-05-23)

1.1.4 (2021-05-12)

1.1.3 (2021-04-29)

1.1.2 (2021-04-08)

• Fix formatting errors
• Replaced eigen+kdl conversions with tf2_eigen + tf2_kdl (#2472)
• Add test to ompl interface for StateValidityChecker (#2247)
• Add test for PlanningContextManager in ompl interface (#2248)
• Contributors: Jeroen, Tyler Weaver, petkovich

1.1.1 (2020-10-13)

• [maint] Add comment to MOVEIT_CLASS_FORWARD (#2315)
• Contributors: Felix von Drigalski

1.1.0 (2020-09-04)

1.0.6 (2020-08-19)

• [maint] Adapt repository for splitted moveit_resources layout (#2199)
• [maint] Migrate to clang-format-10
• [maint] Optimize includes (#2229)
• [fix] Fix memcpy bug in copyJointToOMPLState in ompl interface (#2239)
• Contributors: Jeroen, Markus Vieth, Robert Haschke, Michael Görner

1.0.5 (2020-07-08)

• [feature] Added support for hybridize/interpolate flags in ModelBasedPlanningContext via ompl_planning.yaml (#2171, #2172)
• Contributors: Constantinos, Mark Moll

1.0.4 (2020-05-30)

1.0.3 (2020-04-26)

• [maint] Cleanup OMPL dynamic reconfigure config (#1649) * Reduce minimum number of waypoints in solution to 2
• [maint] Apply clang-tidy fix to entire code base (#1394)
• [maint] Fix errors: catkin_lint 1.6.7 (#1987)
• [maint] Windows build: Fix binary artifact install locations. (#1575)
• [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (#1607)
• Contributors: Michael Görner, Robert Haschke, Sean Yen, Yu, Yan

1.0.2 (2019-06-28)

1.0.1 (2019-03-08)

• [improve] Apply clang tidy fix to entire code base (Part 1) (#1366)
• Contributors: Robert Haschke, Yu, Yan

1.0.0 (2019-02-24)

• [fix] catkin_lint issues (#1341)
• Contributors: Dave Coleman, Robert Haschke

0.10.8 (2018-12-24)

0.10.7 (2018-12-13)

0.10.6 (2018-12-09)

• [fix] Fixed memory leak in OMPL planner (#1104) * Resolve circular reference to ompl::geometric::SimpleSetupPtr
• [maintenance] Use C++14 (#1146)
• [maintenance] Code Cleanup * #1179 * #1196
• Contributors: Alex Moriarty, Dave Coleman, Robert Haschke

0.10.5 (2018-11-01)

• [fix] Build regression (#1174)
• Contributors: Chris Lalancette

0.10.4 (2018-10-29)

0.10.3 (2018-10-29)

• [maintenance] Use locale independent conversion from double to string (#1099)
• Contributors: Simon Schmeisser

0.10.2 (2018-10-24)

• [capability] adaptions for OMPL 1.4 (#903)
• Contributors: Dave Coleman, Michael Görner, Mikael Arguedas, Mohmmad Ayman, Robert Haschke, mike lautman

0.10.1 (2018-05-25)

• migration from tf to tf2 API (#830)
• switch to ROS_LOGGER from CONSOLE_BRIDGE (#874)
• Make trajectory interpolation in MoveIt consistent to OMPL (#869)
• Contributors: Bryce Willey, Ian McMahon, Mikael Arguedas, Robert Haschke, Xiaojian Ma

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

• [maintenance][kinetic onward] Remove OutputHandlerROS from ompl_interface (#609)
• Contributors: Bence Magyar

0.9.9 (2017-08-06)

• [improve][moveit_planners_ompl] Optional forced use of JointModelStateSpaceFactory (#541)
• Contributors: henhenhen

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

• Always update initial robot state to prevent dirty robot state error.
• Contributors: Henning Kayser

0.9.5 (2017-03-08)

• [fix][moveit_ros_warehouse] gcc6 build error #423
• Contributors: Dave Coleman

0.9.4 (2017-02-06)

• [enhancement] ompl_interface: uniform & simplified handling of the default planner (#371)
• [maintenance] clang-format upgraded to 3.8 (#367)
• Contributors: Dave Coleman, Michael Goerner

0.9.3 (2016-11-16)

• [capability] Exposed planners from latest ompl release. (#338)
• [maintenance] Updated package.xml maintainers and author emails #330
• Contributors: Dave Coleman, Ian McMahon, Ruben Burger

0.9.2 (2016-11-05)

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