CHANGELOG

Changelog for package moveit_servo

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)

  • Implement realtime Ruckig jerk-limited smoothing (#2956)

  • Ensure the robot state is up-to-date before Servoing (#2954)

  • Correctly load smoothing plugins in Servo integration tests (#2965)

  • Small fixes to flaky MoveIt Servo integration tests (#2962)

  • Tune Servo params so it does not get stuck so easily (#2939)

  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847) * Rename github.com/ros-planning -> github.com/moveit * Rename ros-planning.github.io -> moveit.github.io * Rename ros-planning organization in docker and CI workflow files - ghcr.io/ros-planning -> ghcr.io/moveit - github.repository == ‘moveit/*’’

  • remove intraprocess comm warning (#2752)

  • Fix error message text in servo.cpp (#2769)

  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • [Servo] Fix collision checking with attached objects (#2747)

  • Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <abi.gpuram@gmail.com>

  • CMake format and lint in pre-commit (#2683)

  • Attempt to use SCHED_FIFO for Servo regardless of RT kernel (#2653) * Attempt to use SCHED_FIFO for Servo regardless of RT kernel * Update warning message if Servo fails to use SCHED_FIFO Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_ros/moveit_servo/src/servo_node.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> ——— Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

  • Acceleration Limited Smoothing Plugin for Servo (#2651)

  • Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver

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

  • [fix] Servo runtime issues (#257, #265, #294)

  • [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

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)