CHANGELOG

Changelog for package pilz_industrial_motion_planner

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)

  • Fix: Resolve race condition in MoveGroupSequenceAction (#3125)

  • Fixes pilz tests (#3095)

  • Allow RobotState::setFromIK to work with subframes (#3077)

  • Enhancement/ports moveit 3522 (#3070)

  • Ports moveit/moveit/pull/3519 to ros2 (#3055)

  • Enhancement/moveit ros1 ports (#3041)

  • Contributors: Maxwell.L, Tom Noble

2.11.0 (2024-09-16)

  • Fix Pilz blending times… the right way (#2961)

  • Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943)

  • Contributors: Chris Schindlbeck, Sebastian Castro

2.10.0 (2024-06-13)

  • Apply clang-tidy fixes

  • 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>

  • Add parameter api integration test (#2662)

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

  • Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver

2.9.0 (2024-01-09)

  • Node logging for the rest of MoveIt (#2599)

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

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

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

  • Do not pass and return simple types by const ref (#2453) Co-authored-by: Nils <nilsmailiseke@gmail.com>

  • Update pre-commit and add to .codespell_words (#2465)

  • 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

  • Fix for already declared deceleration parameters when using Pilz (#2388) * Fix for already declare deceleration parameters when using Pilz * Updated formatting * Updated formatting ——— Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • 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: Jens Vanhooydonck, Marq Rasmussen, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

  • Fx class_loader warnings in PILZ unittests (#2296)

  • Always set response planner id and warn if it is not set (#2236)

  • Pilz multi-group incompatibility (#1856)

  • Enhance PILZ service request checks (#2087)

  • Contributors: Marco Magri, Sebastian Jahr, Yang Lin

2.7.4 (2023-05-18)

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)

  • Update pre-commit (#2094)

  • PILZ: Throw if IK solver doesn’t exist (#2082) * Throw if IK solver doesn’t exist * Format

  • Contributors: Sebastian Jahr, Shobuj Paul

2.7.1 (2023-03-23)

  • Remove “new” from smart pointer instantiation (#2019)

  • 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, Shobuj Paul

2.7.0 (2023-01-29)

  • Merge PR #1712: fix clang compiler warnings + stricter CI

  • converted characters from string format to character format (#1881)

  • Add default constructors … as they are not implicitly declared anymore

  • Add default copy/move constructors/assignment operators As a user-declared destructor deletes any implicitly-defined move constructor/assignment operator, we need to declared them manually. This in turn requires to declare the copy constructor/assignment as well.

  • Fix -Wunused-lambda-capture

  • fix: resolve bugs in MoveGroupSequenceAction class (main branch) (#1797) * fix: resolve bugs in MoveGroupSequenceAction class * style: adopt .clang-format Co-authored-by: Marco Magri <marco.magri@fraunhofer.it>

  • 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.

  • 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

  • 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: Chris Thrasher, Christian Henkel, Cory Crean, Marco Magri, Robert Haschke, Sameer Gupta

2.6.0 (2022-11-10)

  • Use generate_parameter_library to load pilz cartesian limit parameters (#1577)

  • Add joint acceleration validator methods to Pilz limits container (#1638)

  • Use MoveItConfigsBuilder in Pilz test launch file (#1571)

  • Improve CMake usage (#1550)

  • Add planner configurations to CHOMP and PILZ (#1522)

  • Use pragma once as header include guard (#1525)

  • Removed plan_with_sensing (#1142)

  • Remove __has_include statements (#1481)

  • Merge https://github.com/ros-planning/moveit/commit/a63580edd05b01d9480c333645036e5b2b222da9

  • Add missing header for std::unique_ptr (#3180)

  • Contributors: Abishalini Sivaraman, J. Javan, Jochen Sprickerhof, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Vatan Aksoy Tezer, abishalini

2.5.3 (2022-07-28)

  • rename header files so debs are installable (#1443)

  • Contributors: Michael Ferguson

2.5.2 (2022-07-18)

  • Rename cartesian_limits.yaml (#1422) Co-authored-by: Tyler Weaver <maybe@tylerjw.dev>

  • 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)

  • Switch to hpp headers of pluginlib

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

  • banish bind()

  • Contributors: AndyZe, David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael Görner, Vatan Aksoy Tezer, v4hn

2.5.1 (2022-05-31)

  • Fix exporting PILZ’s move_group capabilities (#1281)

  • Contributors: Jafar

2.5.0 (2022-05-26)

  • 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

  • Fix double delete in PILZ CIRC generation (#1229)

  • 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

  • Use orocos_kdl_vendor package (#1207)

  • Remove new operators (#1135) replace new operator with make_shared

  • [moveit_cpp] Fix double param declaration (#1097)

  • Merge https://github.com/ros-planning/moveit/commit/a25515b73d682df03ed3eccd839110c296aa79fc

  • Fix missing boost::ref -> std::ref

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

  • Compilation fixes for Jammy and bring back Rolling CI (#1095)

  • Merge https://github.com/ros-planning/moveit/commit/25a63b920adf46f0a747aad92ada70d8afedb3ec

  • Merge https://github.com/ros-planning/moveit/commit/0d7462f140e03b4c319fa8cce04a47fe3f650c60

  • Avoid downgrading default C++ standard (#3043)

  • Resolve ambiguous function specification (#3040) As Eigen introduced construction from brace-initializers as well, we do need to distinguish between void setJointGroupPositions(const JointModelGroup* group, const std::vector<double>&) and void setJointGroupPositions(const JointModelGroup* group, const Eigen::VectorXd&)

  • Add missing test dependencies (#1027)

  • Add moveit_configs_utils package to simplify loading paramters (#591)

  • Merge pr #3000: Pilz planner: improve reporting of invalid start joints

  • pilz: restrict start state check to active group

  • pilz: report joint name with invalid limits in start state it does not provide enough feedback, is almost trivial and does redundant checks in the single case it’s called from.

  • Switch to std::bind (#2967)

  • Fix orientation of subframe offset in Pilz planners (#2890) Fix #2879 by reorienting the subframe offset applied to a goal pose in the PTP planner,

  • Merge PRs #2948 (improve CI) and #2949 (simplify ROS .test files)

  • Remove unused moveit_planning_execution.launch

  • Use test_environment.launch in unittests

  • Rename launch argument execution_type -> fake_execution_type … to clarify that this parameter is only used for fake controllers

  • Pilz unittests: use test_environment.launch

  • Merge PR #2940: Improve error messages of Pilz planner

  • Fix typo: demangel -> demangle

  • Remove deprecated xacro –inorder

  • Fix unittests by providing a valid JMG

  • Don’t complain about missing limits for irrelevant JMGs When planning an arm motion, Pilz’s PTP planner shouldn’t complain (and bail out) on missing joint limits of hand joints!

  • Avoid duplicate error messages

  • Improve error messages - Downgrade ERROR to WARN - Report affected joint name - Quote (possibly empty) planner id

  • Contributors: Abishalini, Gaël Écorchard, Henning Kayser, Jafar, Jafar Abdi, Jochen Sprickerhof, Robert Haschke, Sencer Yazıcı, Tom Noble, Tyler Weaver, Vatan Aksoy Tezer, jeoseo, v4hn

2.4.0 (2022-01-20)

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

  • Convert to modern include guard #882 (#891)

  • 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)

  • Consider simulated time (#883)

  • Use CallbackGroup for MoveGroupSequenceAction

  • PILZ: Build fixups, silence warnings, fix unit tests

  • PILZ: Migrate and Restructure test directory

  • PILZ: Migrate planner and testutils packages to ROS 2

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

  • Consider attached bodies in Pilz planner #2773 (#2824) - Remove convertToRobotTrajectory() and integrate its line of code into setSuccessResponse() - Pass the final start_state into setSuccessResponse()

  • Fix Pilz planner’s collision detection (#2803) We need to pass the current PlanningScene down to the actual collision checking methods

  • Add planning_pipeline_id to MotionSequence service (#2755) * Add planning_pipeline_id to MotionSequence action and service * check for empty request

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

  • Improve readability of comment

  • Contributors: David V. Lu!!, Felix von Drigalski, Gaël Écorchard, Henning Kayser, Parthasarathy Bana, Robert Haschke, Sebastian Jahr, Sencer Yazıcı, aa-tom, cambel, predystopic-dev, pvanlaar

  • [feature] Add Pilz industrial motion planner (#1893)

  • Contributors: Pilz GmbH and Co. KG, Christian Henkel, Immanuel Martini, Joachim Schleicher, rfeistenauer