CHANGELOG
Changelog for package moveit_ros_planning
2.9.0 (2024-01-09)
[PSM] Process collision object color when adding object trough the planning scene monitor (#2567) * Added an optional Collision Object color object to set the coller of the collision object when adding the collision object trough the PSM. * Fixes for clang-tidy warnings * fix pre-commit * Pass by reference
[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
Node logging for the rest of MoveIt (#2599)
[Planning Pipeline Refactoring] #2 Enable chaining planners (#2457) * Enable chaining multiple planners
Node logging in moveit_core (#2503)
Fix trajectory execution manager comments for docs builds (#2563)
Change default topic name for display contacts (#2561)
[PSM] Add proccess Collision Object to PSM and request planning scene to moveit py to allow syncing of mutliple PSM (#2536) * PlanningSceneMonitor and request planning scene to moveit py to allow syncing of multiple planning scene monitors * pre-commit fixes * Update moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp First catch empty scene to not have a unneeded indents. Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Removed unneeded callback functions ——— Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
[Planning Pipeline Refactoring] #1 Simplify Adapter - Planner chain (#2429)
Use node logging in moveit_ros (#2482)
Add new clang-tidy style rules (#2177)
Re-enable waiting for current state in MoveItCpp (#2419)
Protect against zero frequency in TrajectoryMonitorMiddlewareHandler (#2423)
Small planning pipeline class fixes (#2416)
Use generate parameters library in PlanningPipelineClass + general cleanups (#2288) * Don’t discard stuff * Move constants into source file * Move static consts into header * Don’t ignore pipeline result * Use generate parameter library for planning pipeline parameters * Fix CI * More CI fixes * Remove more state from planning pipeline * Small cleanups * Assert planner_instance_ is not a nullptr * Remove valid variable * Simplify logic for trajectory printing * More helpful comments * Small logic simplification by using break * Fix clang-tidy * Pre-commit + Deprecate functions instead of removing them * Fix CI
Merge branch ‘main’ into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
Remove old deprecated functions (#2384)
[PSM] Get the parameter values of the main node when declaring them in the private node. (#2392) * Get the values of the main node when declaring them in the private node. * [chore] linting * Removed logging * Update formatting * Removed whitespace ———
Update clang-format-14 with QualifierAlignment (#2362) * Set qualifier order in .clang-format * Ran pre-commit to update according to new style guide
Merge branch ‘main’ into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
Contributors: Abishalini Sivaraman, Henning Kayser, Jens Vanhooydonck, Marq Rasmussen, Rayene Messaoud, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Tyler Weaver
2.8.0 (2023-09-10)
Remove added path index from planner adapter function signature (#2285)
Replaced boost::algorithm::join with fmt::join (#2273) * Replaced boost::algorithm::join with fmt::join * Made changes in CMakeLists.txt to accomodate fmt * Updated package.xml files * removed redundant boost dependencies * Rename variables -> variable ——— Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Replaced numbers with SystemDefaultsQos() (#2271)
Cleanup planning request adapter interface (#2266) * Use default arguments instead of additional functions * Use generate param lib for default plan request adapters * Small cleanup of ResolveConstraintFrames * Remove dublicate yaml file entry * Move list_planning_adapter_plugins into own directory * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Fix copy& paste error * Update parameter descriptions Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Apply suggestions from code review Co-authored-by: Kyle Cesare <kcesare@gmail.com> * EMPTY_PATH_INDEX_VECTOR -> empty_path_index_vector * Update parameter yaml * Make param listener unique * Fix build error * Use gt_eq instead of deprecated lower_bounds ——— Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Kyle Cesare <kcesare@gmail.com>
Prefer to use the active controller if multiple controllers apply (#2251)
Don’t default to random algorithm if no plugin is defined (#2228) * Don’t default to random algorithm if no plugin is defined * Simplify selection logic & initialize default values in constructor * Increase message severity
Always set response planner id and warn if it is not set (#2236)
Suppress redundant error message in CSM (#2222) The CSM would spam the log if /joint_states messages includes unkonwn joints. RobotModel::hasJointModel() allows for verifying joint names in a safe way without the error message.
Minor cleanup to ros_control_interface and trajectory execution (#2208)
Ensure that planning pipeline id is set (#2202)
Add @brief descriptions for plan_request_adapters (#2185)
Make loggers static or move into anonymous namespace (#2184) * Make loggers static or move into anonymous namespace * Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp * Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp * Move LOGGER out of class template
Contributors: Henning Kayser, Sebastian Jahr, Shobuj Paul, Stephanie Eng
2.7.4 (2023-05-18)
2.7.3 (2023-04-24)
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>
Fix MoveItCpp issues (port from MoveIt1) (#2001) * Fix MoveitCpp’s const member accessors They should return a ConstPtr instead of a const Ptr&! * Fix SEVERE ClassLoader warning when releasing MoveItCpp - PSM was released before copy of its RobotModel -> removed extra RobotModel copy - clearContents() was broken: - resets in wrong order: psm_ should be last - trajectory_execution_manager_ was missing I suggest to omit clearContents() and rely on the (correct) ordering of member variables. While this is not explicit, we ensure that we don’t miss any newly added member variable. Fix: https://github.com/ros-planning/moveit2/issues/1597 ——— Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: JafarAbdi <jafar.uruc@gmail.com>
Extract parallel planning from moveit cpp (#2043) * Add parallel_planning_interface * Add parallel planning interface * Rename package to pipeline_planning_interface * Move plan_responses_container into own header + source file * Add plan_responses_contrainer source file * Add solution selection and stopping criterion function files * Remove parallel planning from moveit_cpp * Move parallel planning into planning package * Update moveit_cpp * Drop planning_interface changes * Add documentation * Update other moveit packages * Remove removed header * Address CI complains * Address clang-tidy complains * Address clang-tidy complains 2 * Address clang-tidy complains 3 * Extract planning pipeline map creation function from moveit_cpp * Cleanup comment * Use const moveit::core::RobotModelConstPtr& * Formatting * Add header descriptions * Remove superfluous TODOs * Cleanup
Move displaced launch file into planning_component_tools (#2044)
Contributors: Robert Haschke, Sebastian Jahr
2.7.1 (2023-03-23)
Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Benchmark parallel planning pipelines (#1539) * Remove launch and config files (moved to moveit_resources)
Merge pull request #1546 from peterdavidfagan/moveit_py Python Bindings - moveit_py
add new python bindings Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Co-authored-by: Michael Gorner <me@v4hn.de> Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Peter Mitrano <mitranopeter@gmail.com> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Jafar <jafar.uruc@gmail.com> Co-authored-by: Shahwas Khan <shahwazk@usc.edu>
moveit_cpp: handle the case where blocking==false (#1834)
remove underscore from public member in MotionPlanResponse (#1939) * remove underscore from private members * fix more uses of the suffix notation
Contributors: AlexWebb, AndyZe, Jafar, Robert Haschke, Sebastian Jahr, peterdavidfagan
2.7.0 (2023-01-29)
converted characters from string format to character format (#1881)
Add a default stopping criterion for parallel planning (#1876) * Add a default callback for parallel planning termination * Delete long-deprecated “using” * A new translation unit for the new callback * inline
Switch to clang-format-14 (#1877) * Switch to clang-format-14 * Fix clang-format-14
Do not allow traj execution from PlanningComponent (#1835) * Do not allow traj execution from PlanningComponent * Deprecate, don’t delete * Get the group_name from RobotTrajectory * Rebase
Add optional list of controllers to MoveItCpp::execute() (#1838) * Add optional list of controllers * The default is an empty vector
Cleanup msg includes: Use C++ instead of C header (#1844)
Fix trajectory unwind bug (#1772) * ensure trajectory starting point’s position is enforced * fix angle jump bug * handle bounds enforcement edge case * clang tidy * Minor renaming, better comment, use .at() over [] * First shot at a unit test * fix other unwind bugs * test should succeed now * unwind test needs a model with a continuous joint * clang tidy * add test for unwinding from wound up robot state * clang tidy * tweak test for special case to show that it will fail without these changes Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <zelenak@picknik.ai>
No default IK solver (#1816)
Fix BSD license in package.xml (#1796) * fix BSD license in package.xml * this must also be spdx compliant
Remove Iterative Spline and Iterative Parabola time-param algorithms (v2) (#1780) * Iterative parabolic parameterization fails for nonzero initial/final conditions * Iterative spline parameterization fails, too * Delete Iterative Spline & Iterative Parabola algorithms
Enable -Wold-style-cast (#1770)
Remove MOVEIT_LIB_NAME (#1751) It’s more readable and searchable if we just spell out the target name.
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
Used C++ style cast instead of C style cast (#1628) Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Cleanup lookup of planning pipelines in MoveItCpp (#1710) * Revert “Add planner configurations to CHOMP and PILZ (#1522)” * Cleanup lookup of planning pipelines Remove MoveItCpp::getPlanningPipelineNames(), which was obviously intended initially to provide a planning-group-based filter for all available planning pipelines: A pipeline was discarded for a group, if there were no planner_configs defined for that group on the parameter server. As pointed out in #1522, only OMPL actually explicitly declares planner_configs on the parameter server. To enable all other pipelines as well (and thus circumventing the original filter mechanism), #1522 introduced empty dummy planner_configs for all other planners as well (CHOMP + Pilz). This, obviously, renders the whole filter mechanism useless. Thus, here we just remove the function getPlanningPipelineNames() and the corresponding member groups_pipelines_map_.
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>
Contributors: Abhijeet Das Gupta, AndyZe, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Robert Haschke, Sameer Gupta, Tyler Weaver
2.6.0 (2022-11-10)
Short-circuit planning adapters (#1694) * Revert “Planning request adapters: short-circuit if failure, return code rather than bool (#1605)” This reverts commit 66a64b4a72b6ddef1af2329f20ed8162554d5bcb. * Add debug message in call stack of planning_request_adapters * Short-circuit planning request adapters * Replace if-elseif cascade with switch * Cleanup translation of MoveItErrorCode to string - Move default code to moveit_core/utils - Override defaults in existing getActionResultString() - Provide translations for all error codes defined in moveit_msgs * Fix comment according to review * Add braces Co-authored-by: Henning Kayser <henningkayser@picknik.ai> * Add braces Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Co-authored-by: AndyZe <andyz@utexas.edu>
Fixup for #1420: Restore constness of generatePlan() (#1699)
Parallel planning pipelines (#1420) * Add setTrajectoryConstraints() to PlanningComponent * Add planning time to PlanningComponent::PlanSolution * Replace PlanSolution with MotionPlanResponse * Address review * Add MultiPipelinePlanRequestParameters Add plan(const MultiPipelinePlanRequestParameters& parameters) Add mutex to avoid segfaults Add optional stop_criterion_callback and solution_selection_callback Remove stop_criterion_callback Make default solution_selection_callback = nullptr Remove parameter handling copy&paste code in favor of a template Add TODO to refactor pushBack() method into insert() Fix selection criteria and add RCLCPP_INFO output Changes due to rebase and formatting Fix race condition and segfault when no solution is found Satisfy clang tidy Remove mutex and thread safety TODOs Add stopping functionality to parallel planning Remove unnecessary TODOs * Fix unused plan solution with failure * Add sanity check for number of parallel planning problems * Check stopping criterion when new solution is generated + make thread safe * Add terminatePlanningPipeline() to MoveItCpp interface * Format! * Bug fixes * Move getShortestSolution callback into own function * No east const * Remove PlanSolutions and make planner_id accessible * Make solution executable * Rename update_last_solution to store_solution * Alphabetize includes and include plan_solutions.hpp instead of .h * Address review * Add missing header * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: AndyZe <andyz@utexas.edu>
Fixed typo in deprecation warning in ControllerManager (#1688) * fixed typo as suggested by @AndyZe * Update naming Co-authored-by: AndyZe <andyz@utexas.edu>
Planning request adapters: short-circuit if failure, return code rather than bool (#1605) * Return code rather than bool * Remove all debug prints * Small fixup * Minor cleanup of comment and error handling * void return from PlannerFn * Control reaches end of non-void function * Use a MoveItErrorCode cast * More efficient callAdapter() * More MoveItErrorCode * CI fixup attempt
Rename MoveItControllerManager. Add deprecation warning (#1601) * Rename MoveItControllerManager->Ros2ControlManager. Add deprecation warning. * Do not rename base class * Still allow users to load plugins by the old names Co-authored-by: Jafar <jafar.uruc@gmail.com>
Use generate_parameter_library to load kinematics parameters (#1568)
Merge PR #1553: Improve cmake files
Use standard exported targets: export_${PROJECT_NAME} -> ${PROJECT_NAME}Targets
Improve CMake usage (#1550)
Disable flaky test_servo_singularity + test_rdf_integration (#1530)
Remove sensor manager (#1172)
Removed plan_with_sensing (#1142)
Remove __has_include statements (#1481)
Merge https://github.com/ros-planning/moveit/commit/a63580edd05b01d9480c333645036e5b2b222da9
Default destructor for PlanningComponent (#1470)
trajectory execution manager: reactivate tests (#3177)
Clean up TrajectoryExecutionManager API: remove unused code (#3178) * Clean up unused code * Add a comment to MIGRATION.md Co-authored-by: Cristian Beltran <cristianbehe@gmail.com>
Merge PR #3172: Fix CI
Load robot_description via planning_context.launch
TrajectoryExecutionManager: Use local LOGNAME instead of member name_ (#3168)
Contributors: Abhijeet Das Gupta, Abishalini Sivaraman, AndyZe, Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel
2.5.3 (2022-07-28)
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) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
Remove unnecessary rclcpp.hpp includes (#1333)
Add missing headers
MoveItCpp: Allow multiple pipelines (#3131) * Fix config of multiple pipelines * Simply MoveItCpp::getPlanningPipelineNames()
Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
banish bind()
various: prefer objects and references over pointers
Contributors: David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael Görner, Vatan Aksoy Tezer, v4hn
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)
Remove unused includes for boost::bind (#1220)
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
various: prefer object and references over pointers source: https://github.com/ros-planning/moveit/pull/3106/commits/1a8e5715e3142a92977ac585031b9dc1871f8718; this commit contains minor changes when compared to the source commit which it is based on, these changes are limited to ensuring compatibility with ROS2.
Delete an unused variable and a redundant log message (#1179) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
Fix failing test
Comment failing rdf integration test
Merge https://github.com/ros-planning/moveit/commit/424a5b7b8b774424f78346d1e98bf1c9a33f0e78
Return ExecutionStatus from MoveItCpp::execute() (#1147) Return an ExecutionStatus from MoveItCpp::execute(), which is convertible to a bool in the caller code. This change is forward compatible.
Set controller status before it is checked on trajectory execution (#1014)
Remove new operators (#1135) replace new operator with make_shared
RDFLoader Broken with Xacro Files (#1132) * A broken RDFLoader test * Bugfix: Add space between executable and path (if no arguments)
Simply MoveItCpp::getPlanningPipelineNames() (#1114)
[moveit_cpp] Fix config of multiple pipelines (#1096)
Merge https://github.com/ros-planning/moveit/commit/a25515b73d682df03ed3eccd839110c296aa79fc
Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039
Make lockSceneRead() and lockSceneWrite() protected member functions (#1100) * No lock in planning_component.cpp * Make lockSceneRead(), lockSceneWrite() protected * Add a migration note
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
Fix mixed-up implementations in TfSubscription creation (#1073) Co-authored-by: Jean-Christophe Ruel <jeanchristophe.ruel@elmec.ca>
Get parameter on initialize (rebased version of #893) (#996) Get parameter trajectory_execution.execution_duration_monitoring in initialize(). Co-authored-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
Misc fixes for time and transforms (#768) * Fix setting shape_transform_cache_lookup_wait_time from seconds * Fix setting last_update_time from seconds * Check the return value of canTransform
Fix race condition in SynchronizedStringParameter::waitForMessage (#1050) Co-authored-by: Tyler Weaver <squirrel428@protonmail.com>
1.1.8
Delete profiler (#998) * Delete profiler and evaluator tools
Remove unused parameters. (#1018) Co-authored-by: Tyler Weaver <tyler@picknik.ai> Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
Fix deprecation warning in moveit_cpp (#3019) Fixup for #3009.
1.1.7
Move MoveItErrorCode class to moveit_core (#3009) … reducing code duplication and facilitating re-use
Merge #2944: various fixes to the rviz plugins
Switch to std::bind (#2967) * boost::bind -> std::bind grep -rlI –exclude-dir=.git “boost::bind” | xargs sed -i ‘s/boost::bind/std::bind/g’ * Convert bind placeholders grep -rlI –exclude-dir=.git “ _[0-9]” | xargs sed -i ‘s/ _([0-9])/ std::placeholders::_1/g’ * Update bind include header grep -rlI –exclude-dir=.git “boost/bind” | xargs sed -i ‘s#boost/bind.hpp#functional#’
MoveitCpp - added ability to set path constraints for PlanningComponent. (#2959)
RDFLoader: clear buffer before reading content (#2963)
1.1.6
Reset markers on display_contacts topic after a new planning attempt
Contributors: Abishalini, AndyZe, Colin Kohler, Cory Crean, David V. Lu!!, Denis Štogl, Gaël Écorchard, Henning Kayser, Jafar, Jafar Abdi, JafarAbdi, Jean-Christophe Ruel, Jeroen, Jochen Sprickerhof, Rick Staa, Robert Haschke, Sencer Yazıcı, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, jeoseo, v4hn
2.4.0 (2022-01-20)
Merge https://github.com/ros-planning/moveit/commit/f3ac6070497da90da33551fc1dc3a68938340413
Add jerk to the robot model (#683) * Add jerk to the robot model * Add joint limit parsing to a unit test * Add jerk to computeVariableBoundsMsg and <<, too
Silent clang-tidy’s -Wpotentially-evaluated-expression https://stackoverflow.com/questions/46494928/clang-warning-on-expression-side-effects
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: Abishalini, AndyZe, Robert Haschke, Stephanie Eng
2.3.2 (2021-12-29)
Add ros_testsing to moveit_ros_planning for rdf_loader (#943)
Contributors: Tyler Weaver
2.3.1 (2021-12-23)
Replaced C-Style Cast with C++ Style Cast. (#935)
Add codespell to precommit, fix A LOT of spelling mistakes (#934)
Get rid of “std::endl” (#918)
changed post-increments in loops to preincrements (#888)
Latched Strings for URDF and SRDF (#765)
Consider simulated time (#883)
Make controller management logic more tolerant of missing or late ros2_control nodes (#792)
Enforce package.xml format 3 Schema (#779)
Update Maintainers of MoveIt package (#697)
Tests for TrajectoryMonitor using dependency injection (#570)
Update controller_manager_plugin to fix MoveIt-managed controller switching (#785)
MoveitCpp - path constraints added from PlanningComponent (backport #752) (#781)
Split CollisionPluginLoader (#2834)
Bugfix in RDFLoader (#2806)
Fix obvious typo (#2787)
clang-tidy: modernize-make-shared, modernize-make-unique (#2762)
Contributors: Abishalini Sivaraman, Dave Coleman, David V. Lu!!, Felix von Drigalski, Gaël Écorchard, Henning Kayser, Joseph Schornak, Kaustubh, Mathias Lüdtke, Michael Görner, Parthasarathy Bana, Robert Haschke, Sencer Yazıcı, pvanlaar, werner291
2.3.0 (2021-10-08)
Make TF buffer & listener in PSM private (#654)
kinematics_plugin_loader: Revert accidental change in logging level (#692)
Add Ruckig trajectory_processing plugin (jerk-limited) (#571)
PlanningSceneMonitor: Fix warning about having two publisher with the same node (#662)
Port moveit ros control interface to ROS2 (#545)
OccupancyMapMonitor tests using Dependency Injection (#569)
Fix reversed check (#623)
follow_joint_trajectory_controller_handle: publish new multi_dof_trajectory field (#492)
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
Create a transform subscribers to enable virtual joints (#310)
Minor documentation and cleanup of TOTG plugin (#584)
Wait for complete state duration fix (#590)
Fix some format strings (#587)
Fixes for Windows (#530)
Tests for CurrentStateMonitor using dependency injection (#562)
Fix joint’s position limits loading (#553)
Refactors for OccMapTree in PlanningScene (#2684)
Move OccMapTree to moveit_core/collision_detection
Contributors: Akash, AndyZe, Bjar Ne, Henning Kayser, Jafar Abdi, Nathan Brooks, Simon Schmeisser, Tyler Weaver, Vatan Aksoy Tezer, Wyatt Rees, Jack, Dave Coleman, Joe Schornak, Nisala Kalupahana, Lior Lustgarten, Jorge Nicho
2.2.1 (2021-07-12)
Fix unwanted override of URDF joint limit defaults (#546)
Contributors: Jafar Abdi
2.2.0 (2021-06-30)
Fix stopping the TrajectoryExecutionManager’s execution (#506)
Enable Rolling and Galactic CI (#494)
[sync] MoveIt’s master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4 * PSM: Don’t read padding parameters from private namespace (#2706) * MSA: Fix template (max_safe_path_cost) (#2703) * CI: Use compiler flag –pedantic (#2691) * CI: Fail on warnings (#2687) * Refine CSM::haveCompleteState (#2663) * Use private namespace instead of child for PlanningPipeline topics (#2652) * Print error before returning (#2639) * Simplify logic in PSM (#2632) * PlanExecution: Correctly handle preempt-requested flag (#2554) * Support multiple planning pipelines with MoveGroup via MoveItCpp (#2127)
Deprecate namespace moveit::planning_interface in favor of moveit_cpp
thread safety in clear octomap & only update geometry (#2500)
Contributors: Henning Kayser, Jafar Abdi, JafarAbdi, Luc Bettaieb, Martin Günther, Michael Görner, Robert Haschke, Simon Schmeisser, Tyler Weaver, Vatan Aksoy Tezer, v4hn
2.1.4 (2021-05-31)
PlanningRequestAdapter helper method getParam() (#468) * Implement parameters for adapter plugins
Contributors: David V. Lu!!
2.1.3 (2021-05-22)
Delete exclusive arg for collision detector creation (#466) * Delete exclusive arg for collision detector creation * Rename setActiveCollisionDetector->allocateCollisionDetector everywhere
Contributors: AndyZe
2.1.2 (2021-04-20)
Unify PickNik name in copyrights (#419)
Contributors: Tyler Weaver
2.1.1 (2021-04-12)
Declare joint limit parameters (#408)
Add initialize function for moveit_sensor_manager plugin (#386)
Eliminate ability to keep multiple collision detectors updated (#364)
Fix EXPORT install in CMake (#372)
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
[fix] export cmake library install (#339)
MTC compatibility fixes (#323)
trajectory_execution_manager: Fix creating duration from double
current_state_monitor: Fix creating duration from double & converting duration to seconds
Fix some typos in comments (#2466)
Fix repo URLs in package.xml files
Contributors: AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Tyler Weaver, Udbhavbisarya23, Yu Yan
2.1.0 (2020-11-23)
[improvement] Planning Scene Monitor Node Executor (#230, #257, #262, #266) * Fix PSM private node name * Initializes all ros interfaces with the private node * Runs timer callback using async single threaded executor * Fix duplicate PSM ndes (from ros-planning/navigation2#1940)
[improvement] Enable MoveIt fake controller in demo (#231)
[fix] Interactive markers not visible in motion planning plugin (#299)
[maint] Remove deprecated namespaces robot_model, robot_state (#276)
[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
[maint] Compilation fixes for macOS (#271)
[maint] kinematics_base: remove deprecated initialize function (#232)
[maint] Update to new moveit_resources layout (#247)
[maint] Cleanup and fix CMakeLists target dependencies (#226, #228)
[maint] Enable clang-tidy-fix and ament_lint_cmake (#210, #215, #264)
[ros2-migration] Port MoveGroupInterface and MotionPlanning display to ROS 2 (#272) * Add private executor for the internal trajectory_execution_manager node * Use private MGI node, cleanup & fixes
[ros2-migration] Port move_group to ROS 2 (#217)
[ros2-migration] Port planning_pipeline to ROS 2 (#75)
Contributors: Adam Pettinger, Edwin Fan, Henning Kayser, Jafar Abdi, Jorge Nicho, Lior Lustgarten, Mark Moll, Tyler Weaver, Yu Yan, anasarrak
2.0.0 (2020-02-17)
[fix] Fix double node executor exceptions
[fix] PlanningSceneMonitor: Fix double executor exception for service call
[sys] Fix export of moveit_ros_planning dependencies
[improve] Support passing parameter subnamespace in PlanningPipeline
[improve] Load planning request adapter parameters from subnamespace
[fix] Fix parameter lookup: kinematics_plugin_loader
[fix] Fix moveit_ros_visualization (#167)
[fix] rdf_loader: Fix parameter lookup
[port] Port moveit_cpp to ROS 2 (#163)
[port] Port plan_execution to ROS 2 (#111)
[fix] trajectory_execution_manager: Make library shared
[fix] planning_pipeline: Make library shared
[port] Port planning_components_tools to ROS 2 (#149)
[port] Port moveit ros visualization to ROS 2 (#160)
[sys] moveit_ros_planning: Fix export dependencies
[port] Port moveit_simple_controller_manager to ROS 2 (#158)
[fix] Fix and compile planning_pipeline (#162)
[port] Port trajectory_execution_manager to ROS2 (#110)
[fix] Fix linking issue in planning_scene_monitor (#161)
[port] Port planning_scene_monitor to ROS2 (#112)
[sys] Re-enable moveit_ros_planning (#144)
[sys] Comment moveit_ros_occupancy_map_monitor as depend
[sys] Upgrade to ROS 2 Eloquent (#152)
[sys] Fix CMakeLists.txt files for Eloquent
[port] Port collision_plugin_loader to ROS 2 (#137)
[improve] Pass node to KinematicsBase initialization (#145)
[sys] Fix docker images (#139)
[sys] COLCON_IGNORE moveit_ros_planning
[port] Port robot_model_loader to ROS2 (#109)
[port] Port constraint_sampler_manager_loader to ROS2 (#113)
[port] Port kinematics_plugin_loader to ROS2 (#107) * Update CMakeLists.txt * Update parameter resolution * Update logger
[port] Port planning_request_adapter_plugins to ROS2 (#114)
[improve] Initialize parameters from node
[sys] Export plugin description file in new way
[fix] Fix warnings
[sys] Enable planning_request_adapter_plugins for colcon build
[port] Migrate to ROS 2 Logger
[sys] Update CMakeLists.txt
[port] Port planning_request_adapter_plugins to ROS 2
[port] Port rdf_loader to ROS2 (#104)
Contributors: Henning Kayser, Jafar Abdi, Robert Haschke, Yu Yan, Víctor Mayoral Vilches,
1.1.1 (2020-10-13)
1.1.0 (2020-09-04)
[feature] Use Eigen::Transform::linear() instead of rotation() (#1964)
[feature] Allow different controllers for execution (#1832)
[feature] Adding continuous collision detection to Bullet (#1551)
[feature] plan_execution: refine logging for invalid paths (#1705)
[feature] Unified Collision Environment Integration (#1584)
[feature] Allow ROS namespaces for planning request adapters (#1530)
[feature] Add named frames to CollisionObjects (#1439)
[feature] get_planning_scene_service: return full scene when nothing was requested (#1424)
[fix] Various fixes for upcoming Noetic release (#2180)
[fix] Initialize zero dynamics in CurrentStateMonitor (#1883)
[fix] memory leak (#1526)
[maint] Adapt repository for splitted moveit_resources layout (#2199)
[maint] partially transition unused test bin to rostest (#2158)
[maint] Optional cpp version setting (#2166)
[maint] Fix usage of panda_moveit_config (#1904)
[maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
[maint] Adapt cmake for Bullet (#1744)
[maint] Readme for speed benchmark (#1648)
[maint] Fix compiler warnings (#1773)
[maint] Improve variable naming in RobotModelLoader (#1759)
[maint] Move isEmpty() test functions to moveit_core/utils (#1627)
[maint] Switch from include guards to pragma once (#1615)
[maint] Remove ! from MoveIt name (#1590)
Contributors: Ayush Garg, Bianca Homberg, Dave Coleman, Felix von Drigalski, Henning Kayser, Jens P, Jonathan Binney, Markus Vieth, Martin Pecka, Max Krichenbauer, Michael Görner, Robert Haschke, Sean Yen, Simon Schmeisser, Tyler Weaver, Yu, Yan, jschleicher, livanov93, llach
1.0.6 (2020-08-19)
1.0.5 (2020-07-08)
[feature] Trajectory Execution: fix check for start state position (#2157)
[feature] Improve responsiveness of PlanningSceneDisplay (#2049) - PlanningSceneMonitor: increate update frequency from 10Hz to 30Hz - send RobotState diff if only position changed
Contributors: Michael Görner, Robert Haschke, Simon Schmeisser
1.0.4 (2020-05-30)
1.0.3 (2020-04-26)
[fix] CurrentStateMonitor: Initialize velocity/effort with unset dynamics
[fix] Fix spurious warning message (# IK attempts) (#1876)
[maint] Move get_planning_scene service into PlanningSceneMonitor for reusability (#1854)
[feature] Forward controller names to TrajectoryExecutionManager
[fix] Always copy dynamics if enabled in CurrentStateMonitor (#1676)
[feature] TrajectoryMonitor: zero sampling frequency disables trajectory recording (#1542)
[feature] Add user warning when planning fails with multiple constraints (#1443)
[maint] Apply clang-tidy fix to entire code base (#1394)
[maint] Fix errors: catkin_lint 1.6.7 (#1987)
[maint] Windows build fixes * Fix header inclusion and other MSVC build errors (#1636) * Fix binary artifact install locations. (#1575) * Favor ros::Duration.sleep over sleep. (#1634) * Remove GCC extensions (#1583) * Fix binary artifact install locations. (#1575)
[maint] Use CMAKE_CXX_STANDARD to enforce c++14 (#1607)
[fix] Fix potential memory leak in RDFLoader (#1828) [maint] Use smart pointers to avoid explicit new/delete
[fix] TrajectoryExecutionManager: fix race condition (#1709)
[fix] Correctly propagate error if time parameterization fails (#1562)
[maint] move occupancy_map_monitor into its own package (#1533)
[feature] PlanExecution: return executed trajectory (#1538)
Contributors: Felix von Drigalski, Henning Kayser, Max Krichenbauer, Michael Görner, Robert Haschke, Sean Yen, Yu, Yan, jschleicher, livanov93, Luca Lach
1.0.2 (2019-06-28)
[fix] Removed MessageFilter for /collision_object messages (#1406)
Contributors: Robert Haschke
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)
0.10.8 (2018-12-24)
0.10.7 (2018-12-13)
0.10.6 (2018-12-09)
[fix] Fixed various memory leaks (#1104) * KinematicsPluginLoader: only cache the latest instance * Use createUniqueInstance()
[fix] Use correct trajectory_initialization_method parameter (#1237)
[enhancement] Pass RobotModel to IK, avoiding multiple loading (#1166)
[maintenance] Replaced Eigen::Affine3d -> Eigen::Isometry3d (#1096)
[maintenance] Use C++14 (#1146)
[maintenance] Change dynamic reconfigure limits for allowed_goal_duration_margin to 30s (#993)
Contributors: Alex Moriarty, Dave Coleman, Hamal Marino, Michael Görner, Robert Haschke, Stephan
0.10.5 (2018-11-01)
0.10.4 (2018-10-29)
[fix] Build regression (#1170)
Contributors: Robert Haschke
0.10.3 (2018-10-29)
[fix] Build regression (#1134)
Contributors: Robert Haschke
0.10.2 (2018-10-24)
[fix] Chomp package handling issue #1086 that was introduced in ubi-agni/hotfix-#1012
[fix] CurrentStateMonitor update callback for floating joints to handle non-identity joint origins #984
[fix] Eigen alignment issuses due to missing aligned allocation (#1039)
[fix] reset moveit_msgs::RobotState.is_diff to false (#968) This fixes a regression introduced in #939.
[capability][chomp] Addition of CHOMP planning adapter for optimizing result of other planners (#1012)
[capability] new dynamic-reconfigure parameter wait_for_trajectory_completion to disable waiting for convergence independently from start-state checking. (#883)
[capability] Option for controller-specific duration parameters (#785)
[enhancement] do not wait for robot convergence, when trajectory_execution_manager finishes with status != SUCCEEDED (#1011)
[enhancement] allow execution of empty trajectories (#940)
[enhancement] avoid warning spam: “Unable to update multi-DOF joint” (#935)
Contributors: 2scholz, Adrian Zwiener, Kei Okada, Michael Görner, Mohmmad Ayman, Raghavender Sahdev, Robert Haschke, Simon Schmeisser, Xaver Kroischke, mike lautman, srsidd
0.10.1 (2018-05-25)
[fix] explicitly enforce updateSceneWithCurrentState() in waitForCurrentRobotState() (#824)
Support static TFs for multi-DOF joints in CurrentStateMonitor (#799)
support xacro args (#796)
CSM: wait for active joint states only (#792)
skip non-actuated joints for execution (#754)
Iterative cubic spline interpolation (#441)
Floating Joint Support in CurrentStateMonitor (#748)
validate multi-dof trajectories before execution (#713)
Contributors: Bruno Brito, Dave Coleman, Ian McMahon, Ken Anderson, Michael Görner, Mikael Arguedas, Robert Haschke
0.9.11 (2017-12-25)
0.9.10 (2017-12-09)
0.9.9 (2017-08-06)
[fix] Change getCurrentExpectedTrajectory index so collision detection is still performed even if the path timing is not known (#550)
[fix] Support for MultiDoF only trajectories #553
[fix] ros_error macro name (#544)
[fix] check plan size for plan length=0 #535
Contributors: Cyrille Morin, Michael Görner, Mikael Arguedas, Notou, Unknown
0.9.8 (2017-06-21)
[fix] Include callback of execution status if trajectory is invalid. (#524)
Contributors: dougsm
0.9.7 (2017-06-05)
0.9.6 (2017-04-12)
0.9.5 (2017-03-08)
[enhancement] Remove “catch (…)” instances, catch std::exception instead of std::runtime_error (#445)
Contributors: Bence Magyar
0.9.4 (2017-02-06)
0.9.3 (2016-11-16)
0.9.2 (2016-11-05)
0.6.6 (2016-06-08)
Add library moveit_collision_plugin_loader as an exported catkin library (ros-planning:moveit_ros#678)
replaced cmake_modules dependency with eigen
[jade] eigen3 adjustment
Fix compilation with C++11.
Enable optional build against Qt5, use -DUseQt5=On to enable it
merge indigo-devel changes (PR ros-planning:moveit_ros#633 trailing whitespace) into jade-devel
Removed trailing whitespace from entire repository
Optional ability to copy velocity and effort to RobotState
cherry-picked PR ros-planning:moveit_ros#614 fixed segfault on shutdown
fixed segfault on shutdown use of pluginlib’s createUnmanagedInstance() is strongly discouraged: http://wiki.ros.org/class_loader#Understanding_Loading_and_Unloading here, the kinematics plugin libs were unloaded before destruction of corresponding pointers
Deprecate shape_tools
CurrentStateMonitor no longer requires hearing mimic joint state values.
Fix crash due to robot state not getting updated (moveit_ros ros-planning:moveit_ros#559)
Contributors: Dave Coleman, Dave Hershberger, Isaac I.Y. Saito, Levi Armstrong, Maarten de Vries, Robert Haschke, Simon Schmeisser (isys vision), kohlbrecher
0.6.5 (2015-01-24)
update maintainers
perception: adding RAII-based locking for OccMapTree
perception: adding locks to planning scene monitor
Add time factor support for iterative_time_parametrization
Contributors: Jonathan Bohren, Michael Ferguson, kohlbrecher
0.6.4 (2014-12-20)
Namespaced “traj_execution” for all trajectory_execution_manager logging
planning_scene_monitor: add ros parameter for adding a wait-for-transform lookup time fixes ros-planning:moveit_ros#465
Contributors: Dave Coleman, Jonathan Bohren
0.6.3 (2014-12-03)
add plugin interface for collision detectors
fix missing return value
trivial fixes for warnings
Contributors: Michael Ferguson
0.6.2 (2014-10-31)
0.6.1 (2014-10-31)
re-add libqt4 dependency (previously came from pcl-all)
Contributors: Michael Ferguson
0.6.0 (2014-10-27)
Removed leadings slash from rosparam for robot padding
Added move_group capability for clearing octomap.
Made loading octomap_monitor optional in planning_scene_monitor when using WorldGeometryMonitor
Contributors: Dave Coleman, Dave Hershberger, Sachin Chitta, ahb
0.5.19 (2014-06-23)
Updated doxygen comment in TrajectoryExecutionManager.
Added more informative error message text when cant’ find controllers.
robot_model_loader.cpp: added call to KinematicsBase::supportsGroup().
Fix [-Wreorder] warning.
Fix broken log & output statements. - Address [cppcheck: coutCerrMisusage] and [-Werror=format-extra-args] errors. - ROS_ERROR -> ROS_ERROR_NAMED. - Print size_t values portably.
Address [-Wreturn-type] warning.
Address [cppcheck: postfixOperator] warning.
Address [cppcheck: duplicateIf] error. The same condition was being checked twice, and the same action was being taken.
Add check for planning scene monitor connection, with 5 sec delay
Fix for building srv_kinematics_plugin
New ROS service call-based IK plugin
Allow planning groups to have more than one tip
Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Dave Hershberger
0.5.18 (2014-03-23)
0.5.17 (2014-03-22)
update build system for ROS indigo
update maintainer e-mail
Namespace a debug message
Minor non-functional changes to KDL
Contributors: Dave Coleman, Ioan Sucan
0.5.16 (2014-02-27)
Copy paste error fix
Contributors: fivef
0.5.14 (2014-02-06)
0.5.13 (2014-02-06)
remove debug printfs
planning_scene_monitor: add requestPlanningSceneState()
planning_scene_monitor: fix race condition
planning_scene_monitor: fix state update bug The rate of state updates is limited to dt_state_update per second. When an update arrived it was not processed if another was recently processed. This meant that if a quick sequence of state updates arrived and then no updates arrive for a while that the last update(s) were not seen until another arrives (which may be much later or never). This fixes the bug by periodically checking for pending updates and running them if they have been pending longer than dt_state_update.
add default_robot_link_padding/scale, set padding/scale value for each robot link, see https://github.com/ros-planning/moveit_ros/issues/402
fix LockedPlanningSceneRW docs fix the text that was originally copied from another class (from LockedPlanningSceneRO) it mentioned an incorrect return value type of LockedPlanningSceneRW::operator->()
Contributors: Acorn Pooley, Filip Jares, Kei Okada
0.5.12 (2014-01-03)
Fixed trailing underscores in CHANGELOGs.
Contributors: Dave Hershberger
0.5.11 (2014-01-03)
planning_scene_monitor: slight code simplification
planning_scene_monitor: fix scope of local vars
planning_scene_monitor: fix init bug scene_const_ not set if scene passed to constructor.
kdl_kinematics_plugin: fix warning
Contributors: Acorn Pooley
0.5.10 (2013-12-08)
fixing how joint names are filled up, fixed joints were getting included earlier, also resizing consistency limits for when random positions near by function is being called
Contributors: Sachin Chitta
0.5.9 (2013-12-03)
Doxygen: added warnings and details to planning_scene_monitor.h
correcting maintainer email
remove duplicate header
Fixed exported targets
Fixed dependency issue
fixing joint limits setup for mimic joints
implement feature requests
clear monitored octomap when needed (see ros-planning:moveit_ros#315)
fix the adapter for fixing path constraints for initial states
fixed computation of dimension_.
bugfixes in indexing added states for path adapters
fixes for mimic joints and redundant joints
0.5.8 (2013-10-11)
add executable for publishing scene geometry from text
Made the goal duration margin and scaling optional rosparameters
bugfixes
0.5.7 (2013-10-01)
0.5.6 (2013-09-26)
0.5.5 (2013-09-23)
fix the event triggered on updating attached objects
make scene monitor trigger updates only when needed
fix loading of default params
port to new RobotState API, new messages
make sure we do not overwrite attached bodies, when updating the current state
fix issue with sending trajectories for passive/mimic/fixed joints
pass effort along
0.5.4 (2013-08-14)
remove CollisionMap, expose topic names in PlanningSceneMonitor, implement detach / attach operations as requested by ros-planning:moveit_ros#280
make headers and author definitions aligned the same way; white space fixes
move background_processing lib to core
add option to disable trajectory monitoring
0.5.2 (2013-07-15)
0.5.1 (2013-07-14)
0.5.0 (2013-07-12)
minor doc fixes
add docs for planning pipeline
cleanup build system
fixing approximate ik calculation
white space fixes (tabs are now spaces)
adding check for approximate solution flag
adding options struct to kinematics base
port to new base class for planning_interface (using planning contexts)
0.4.5 (2013-07-03)
Namespaced ROS_* log messages for better debug fitering - added ‘kdl’ namespace
remove dep
make searchPositionIK actually const, and thread-safe
Made debug output look better
0.4.4 (2013-06-26)
added dynamic reconfigure parameters to allow enabling/disabling of trajectory duration monitoring. fixes ros-planning:moveit_ros#256
add state operations evaluation tool
warn when time parametrization fails
moved exceptions headers