CHANGELOG

Changelog for package moveit_ros_move_group

2.14.1 (2025-09-09)

  • Fix link to fmt::fmt imported target (#3507)

  • Contributors: Silvio Traversaro

2.14.0 (2025-06-13)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

  • Ports moveit1 #3689 (#3357) * Publish planning scene while planning (#3689)

  • Contributors: Mark Johnson

2.13.0 (2025-02-15)

  • Ports moveit #3676 and #3682 (#3283)

  • Remove plugins from export set (#3227)

  • move TrajectoryExecutionManager::clear() to private (#3226)

  • Contributors: Dongya Jiang, Mark Johnson, Michael Görner, Robert Haschke, Paul Gesel

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)

  • Contributors: Tom Noble

2.11.0 (2024-09-16)

  • Add SaveGeometryToFile and LoadGeometryFromFile services (#2973)

  • New implementation for computeCartesianPath() (#2916)

  • Consider attached collision objects in the ComputeFK service (#2953)

  • Contributors: Bilal Gill, Daniel García López, Robert Haschke

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/*’’

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

  • Remove extraneous error message from URDF service (#2736)

  • Add parameter api integration test (#2662)

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

  • Get robot description from topic in GetUrdfService (#2681)

  • Fix bug in GetUrdfService move_group capability (#2669) * Take both possible closings for links into account * Make CI happy

  • avoid a relative jump threshold of 0.0 (#2654)

  • Add get group urdf capability (#2649)

  • Contributors: Abishalini Sivaraman, Ezra Brooks, Mario Prats, Robert Haschke, Sebastian Jahr, Tyler Weaver

2.9.0 (2024-01-09)

  • Fix warning and cleanup unneeded placeholders (#2566) * Fix warning and cleanup unneeded placeholders * Make clang-tidy happy * Remove print statement

  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457) * Enable chaining multiple planners

  • Node logging in moveit_core (#2503)

  • [Planning Pipeline Refactoring] #1 Simplify Adapter - Planner chain (#2429)

  • Factor out path joint-space jump check (#2506)

  • Use node logging in moveit_ros (#2482)

  • Add new clang-tidy style rules (#2177)

  • 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)

  • Merge branch ‘main’ into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Mario Prats, Marq Rasmussen, Rayene Messaoud, Sebastian Jahr, Tyler Weaver

2.8.0 (2023-09-10)

  • 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>

  • Specify controller name in MGI execution (#2257) * Specify controller name in MGI execute * Finish comment ——— Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • fix move_group capabilities loading (#2270) * fix move_group capabilities loading * clang-format

  • Cleanup move_group CMake (#2226)

  • Contributors: Shobuj Paul, Stephanie Eng, Tyler Weaver, Yang Lin

2.7.4 (2023-05-18)

  • Fix MoveGroup action cancel callback (#2118) Moves the execution callback into its own thread to avoid blocking and actually calls the preempt function in with the cancel callback.

  • Scale acceleration and velocity of cartesian interpolations (#1968)

  • Contributors: Jonathan Grebe, Yadu

2.7.3 (2023-04-24)

  • Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)

  • Contributors: Shobuj Paul

2.7.2 (2023-04-18)

  • 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>

  • Contributors: Robert Haschke

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>

  • remove underscore from public member in MotionPlanResponse (#1939) * remove underscore from private members * fix more uses of the suffix notation

  • Contributors: AlexWebb, Robert Haschke

2.7.0 (2023-01-29)

  • move_group: Delete unused execute_trajectory_service_capability (#1836)

  • keep printf color change on same line (#1828) This ensures the color reset is applied because printing the color reset after new lines seems to preven the color from actually being reset. Co-authored-by: William Wedler <william.wedler@resquared.com>

  • Fix BSD license in package.xml (#1796) * fix BSD license in package.xml * this must also be spdx compliant

  • Add braces around blocks. (#999)

  • Used C++ style cast instead of C style cast (#1628) Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • 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, Christian Henkel, Cory Crean, Robert Haschke, Will

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>

  • avoid implicit conversions (#1593)

  • Remove unused header (#1572)

  • Merge PR #1553: Improve cmake files

  • Use standard exported targets: export_${PROJECT_NAME} -> ${PROJECT_NAME}Targets

  • Improve CMake usage (#1550)

  • Removed plan_with_sensing (#1142)

  • Remove __has_include statements (#1481)

  • Contributors: Abishalini Sivaraman, Robert Haschke, Sarah Nix, Sebastian Jahr, Stephanie Eng, Vatan Aksoy Tezer

2.5.3 (2022-07-28)

2.5.2 (2022-07-18)

  • Merge pull request #1402 from Abishalini/pr-sync-a436a97 Sync with MoveIt

  • Merge https://github.com/ros-planning/moveit/commit/a436a9771f7445c162cc3090c4c7c57bdb5bf194

  • Merge remote-tracking branch ‘origin/main’ into feature/msa

  • Remove manipulation from moveit_ros (#1177)

  • Merge pull request #3137 from TAMS-Group/pr-master-monitor-dynamics move_group can optionally monitor dynamics

  • optionally enable dynamics monitoring in move_group node

  • convert move_group to LOGNAME

  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()

  • banish bind()

  • Contributors: Abishalini, Michael Görner, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, v4hn

2.5.1 (2022-05-31)

2.5.0 (2022-05-26)

  • Merge https://github.com/ros-planning/moveit/commit/72d919299796bffc21f5eb752d66177841dc3442

  • Enable cppcheck (#1224) Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>

  • Make TOTG the default time-parameterization algorithm everywhere (#1218) Co-authored-by: Jafar <cafer.abdi@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

  • Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039

  • 1.1.9

  • Fix missing include (#3051)

  • 1.1.8

  • Improve loading of planning pipelines (#3036) Ensure that planning pipelines considered in ~/planning_pipelines/* actually have a planning_plugin parameter defined. Otherwise, issue an error message.

  • Remove unused parameters. (#1018) Co-authored-by: Tyler Weaver <tyler@picknik.ai> Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>

  • 1.1.7

  • 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#’

  • 1.1.6

  • Contributors: Abishalini, AndyZe, Cory Crean, Henning Kayser, Jafar, Jochen Sprickerhof, Robert Haschke, Tobias Fischer, jeoseo, v4hn

2.4.0 (2022-01-20)

  • 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: Robert Haschke

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

  • Add codespell to precommit, fix A LOT of spelling mistakes (#934)

  • Get rid of “std::endl” (#918)

  • Consider simulated time (#883)

  • Enforce package.xml format 3 Schema (#779)

  • Update Maintainers of MoveIt package (#697)

  • clang-tidy: modernize-make-shared, modernize-make-unique (#2762)

  • Contributors: Dave Coleman, David V. Lu!!, Felix von Drigalski, Gaël Écorchard, Henning Kayser, Parthasarathy Bana, Robert Haschke, pvanlaar

2.3.0 (2021-10-08)

  • 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

  • Contributors: Vatan Aksoy Tezer

2.2.1 (2021-07-12)

2.2.0 (2021-06-30)

2.1.4 (2021-05-31)

2.1.3 (2021-05-22)

2.1.2 (2021-04-20)

2.1.1 (2021-04-12)

  • Fix EXPORT install in CMake (#372)

  • TfPublisher: tf frame name can’t start with ‘/’

  • [fix] Export libs for MoveGroup capabilities and MoveItSimpleControllerManager (#344)

  • Fix repo URLs in package.xml files

  • Contributors: Boston Cleek, Henning Kayser, Jafar Abdi, Tyler Weaver

2.1.0 (2020-11-23)

  • [fix] Interactive markers not visible in motion planning plugin (#299)

  • [fix] Rosdep dependencies ros_testing, OpenMP (#309)

  • [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)

  • [ros2-migration] Enable warehouse in moveit_ros_benchmarks (#301)

  • [ros2-migration] Port moveit_ros_warehouse to ROS 2 (#273)

  • [ros2-migration] Port moveit_ros_benchmarks to ROS 2 (#225)

  • [ros2-migration] Port moveit_group to ROS 2 (#217)

  • Contributors: Abdullah Alzaidy, Edwin Fan, Henning Kayser, Jafar Abdi, Lior Lustgarten, Yu Yan

1.1.1 (2020-10-13)

  • [fix] Let the max number of contacts be the amount of world objects + link models with geometry (#2355)

  • [maint] Add comment to MOVEIT_CLASS_FORWARD (#2315)

  • Contributors: Felix von Drigalski, Loy van Beek, Michael Görner, v4hn

1.1.0 (2020-09-04)

  • [feature] Start new joint_state_publisher_gui on param use_gui (#2257)

  • [feature] TfPublisher: fixup and add attached collsion objects (#1792)

  • [feature] move_group capability for publishing planning scene frames to the tf system (#1761)

  • [feature] get_planning_scene_service: return full scene when nothing was requested (#1424)

  • [feature] Separate source file for CartesianInterpolator (#1149)

  • [fix] Various fixes for upcoming Noetic release (#2180)

  • [fix] Fix TfPublisher subframe publishing (#2002)

  • [maint] Fix compiler warnings (#1773)

  • [maint] clang-tidy fixes (#2050) (#2004, #1419)

  • [maint] Optional cpp version setting (#2166)

  • [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)

  • [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: Dave Coleman, Mike Lautman, Robert Haschke, Felix von Drigalski, Jens P, Jonathan Binney, JonasTietz, Michael Görner, Tyler Weaver, Yoan Mollard, Yu, Yan, v4hn

1.0.6 (2020-08-19)

  • [maint] Adapt repository for splitted moveit_resources layout (#2199)

  • [maint] Migrate to clang-format-10

  • Contributors: Robert Haschke, Michael Görner

1.0.5 (2020-07-08)

1.0.4 (2020-05-30)

1.0.3 (2020-04-26)

  • [maint] Move get_planning_scene service into PlanningSceneMonitor for reusability (#1854)

  • [maint] Cleanup move_group capabilities (#1515)

  • [maint] Apply clang-tidy fix to entire code base (#1394)

  • [maint] Fix errors: catkin_lint 1.6.7 (#1987)

  • [maint] Windows build: Fix binary artifact install locations. (#1575)

  • [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (#1607)

  • Contributors: Robert Haschke, Sean Yen, Yu, Yan

1.0.2 (2019-06-28)

1.0.1 (2019-03-08)

  • [improve] Apply clang tidy fix to entire code base (Part 1) (#1366)

  • Contributors: Yu, Yan

1.0.0 (2019-02-24)

  • [fix] catkin_lint issues (#1341)

  • [improve] Remove (redundant) random seeding and #attempts from RobotState::setFromIK() as the IK solver perform random seeding themselves. #1288

  • Contributors: Robert Haschke

0.10.8 (2018-12-24)

0.10.7 (2018-12-13)

0.10.6 (2018-12-09)

  • [fix] Fixed various memory leaks (#1104)

  • [maintenance] Replaced Eigen::Affine3d -> Eigen::Isometry3d (#1096)

  • [maintenance] Code Cleanup * #1180 * #1196

  • Contributors: Dave Coleman, Robert Haschke

0.10.2 (2018-10-24)

  • [fix] PlanningSceneMonitor lock #1033: Fix #868 (#1057)

  • [maintenance] various compiler warnings (#1038)

  • [maintenance] add minimum required pluginlib version (#927)

  • Contributors: Mikael Arguedas, Mohmmad Ayman, Robert Haschke, mike lautman

0.10.1 (2018-05-25)

  • Remove deprecated ExecuteTrajectoryServiceCapability (#833)

  • migration from tf to tf2 API (#830)

  • Add namespace capabilities to moveit_commander (#835)

  • [fix] MoveAction capability can drop cancel request if it is sent shortly after goal is sent (#756)

  • Contributors: Dave Coleman, Ian McMahon, Mikael Arguedas, Robert Haschke, Will Baker

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

  • [fix] always return true in MoveGroupPlanService callback #674

  • [improve] adding swp’s to gitignore and removing redundant capabilites from capability_names.h (#704)

  • Contributors: Mike Lautman, Shingo Kitagawa

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)

  • [fix][moveit_ros_warehouse] gcc6 build error #423

  • [enhancement] Remove “catch (…)” instances, catch std::exception instead of std::runtime_error (#445)

  • Contributors: Bence Magyar, Dave Coleman

0.9.4 (2017-02-06)

  • [fix] race conditions when updating PlanningScene (#350)

  • [maintenance] clang-format upgraded to 3.8 (#367)

  • Contributors: Dave Coleman, Robert Haschke

0.9.3 (2016-11-16)

  • [maintenance] Updated package.xml maintainers and author emails #330

  • Contributors: Dave Coleman, Ian McMahon

0.9.2 (2016-11-05)

0.6.6 (2016-06-08)

  • added missing validity check iterator found with configs.find() needs to be validated before use…

  • Removed trailing whitespace from entire repository

  • moved planner params services into existing capability QueryPlannerInterfaces

  • capability plugin MoveGroupPlannerParamsService to get/set planner params

  • Fixed bug(?) in move_group::MoveGroupKinematicsService::computeIK link name selection.

  • Contributors: Dave Coleman, Mihai Pomarlan, Robert Haschke

0.6.5 (2015-01-24)

  • update maintainers

  • Contributors: Michael Ferguson

0.6.4 (2014-12-20)

0.6.3 (2014-12-03)

0.6.2 (2014-10-31)

  • Merge pull request #522 from mikeferguson/indigo-devel add dependency on std_srvs (part of octomap clearing service)

  • Contributors: Ioan A Sucan, Michael Ferguson

0.6.1 (2014-10-31)

0.6.0 (2014-10-27)

  • Added move_group capability for clearing octomap.

  • Contributors: Dave Hershberger, Sachin Chitta

0.5.19 (2014-06-23)

  • Address [cppcheck: duplicateIf] error. The same condition was being checked twice, and the same action was being taken.

  • Contributors: Adolfo Rodriguez Tsouroukdissian

0.5.18 (2014-03-23)

0.5.17 (2014-03-22)

  • update maintainer e-mail

  • Contributors: Ioan Sucan

0.5.16 (2014-02-27)

  • empty state should be a diff state, otherwise attached objects are deleted

  • Contributors: sachinc

0.5.14 (2014-02-06)

0.5.13 (2014-02-06)

0.5.12 (2014-01-03)

0.5.11 (2014-01-03)

0.5.10 (2013-12-08)

0.5.9 (2013-12-03)

  • Re-ordered movegroup’s initialization, so capabilities start after monitors.

  • correcting maintainer email

  • Added planning feedback to gui, refactored states tab

0.5.8 (2013-10-11)

0.5.7 (2013-10-01)

0.5.6 (2013-09-26)

0.5.5 (2013-09-23)

  • porting to new RobotState API

  • more console output

0.5.4 (2013-08-14)

  • make headers and author definitions aligned the same way; white space fixes

  • Dependency for move_group_capabilities_base fixed.

0.5.2 (2013-07-15)

0.5.1 (2013-07-14)

0.5.0 (2013-07-12)

  • white space fixes (tabs are now spaces)

  • port to new base class for planning_interface (using planning contexts)

0.4.5 (2013-07-03)

  • Fixed for moveit_msgs/JointLimits.h no such file or directory

0.4.4 (2013-06-26)