1.0.11 (2022-09-13)

1.0.10 (2022-03-06)

1.0.9 (2022-01-09)

• Fix an off-by-one error in servo_calcs.cpp (#2908)
• Contributors: Michael Görner

1.0.8 (2021-05-23)

• 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)
• Refactor Servo velocity bounds enforcement (#2471)
• Protect paused_ flag, for thread safety (#2494)
• Do not break out of loop -- need to update low pass filters (#2496)
• 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)
• Low latency mode (#2401)
• Move timer initialization down to fix potential race condition
• Fix pose tracking race condition (#2395)
• Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Michael Görner, Nathan Brooks, Tyler Weaver, parunapu

1.0.7 (2020-11-20)

• [feature] Cleanup current state handling in servo (#2372)
• [feature] Servo namespacing logic (#2354)
• [feature] A library for servoing toward a moving pose (#2203)
• [feature] Refactor velocity limit enforcement and add a unit test (#2260)
• [feature] Add a utility to print collision pairs (#2275)
• [feature] Update last_sent_command_ at ServoCalcs start (#2249)
• [fix] Fix servo trajectory point timestamping (#2375)
• [fix] Fix ordering of windup args to control_toolbox::Pid (#2370)
• [fix] Fix Servo thread interruption (#2314)
• [fix] Servo heap-buffer-overflow bug (#2307)
• [maint] add soname version to moveit_servo (#2266)
• Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Nathan Brooks, Robert Haschke, Tyler Weaver

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