CHANGELOG

Changelog for package moveit_ros_planning_interface

2.11.0 (2024-09-16)

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/*’’

  • Add getNodeHandle impl (#2840) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • 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)

  • Remove unused python content from planning interface directory (#2665) * Remove unused python content from planning interface directory * Cleanup test cmake

  • Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver, methylDragon

2.9.0 (2024-01-09)

  • Update ros2_control usage (#2620) * Update ros2_control usage * Update xacro file

  • Node logging in moveit_core (#2503)

  • Use node logging in moveit_ros (#2482)

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

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

  • Remove old deprecated functions (#2384)

  • 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: Marq Rasmussen, Rayene Messaoud, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

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

  • Remove deprecated move_group pick& place functionality + demo (#2239) Co-authored-by: Jafar Uruç <cafer.abdi@gmail.com>

  • Contributors: Sebastian Jahr, Stephanie Eng

2.7.4 (2023-05-18)

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

  • Contributors: 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)

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)

  • Merge https://github.com/ros-planning/moveit/commit/9225971216885490e933ece25390c63ca14f8a58

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

  • 400% speed up to move group interface (#1865)

  • GHA: Build moveit_msgs from source (#1853) * Revert #1739: moveit_msgs no longer needs to be built from source This reverts commit 6e0fce31cfe94ef8c6d5ebccb4d865f0c144b6e1. * Remove obsolete include: moveit_msgs/srv/execute_known_trajectory.hpp * Cleanup moveit2.repos

  • 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.

  • 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>

  • 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>

  • Test moveit_commander.set_joint_value_target with JointState argument (#3187) * Test with JointState argument * Check size of name and position fields Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

  • Contributors: Abhijeet Das Gupta, Abishalini, Chris Thrasher, Christian Henkel, Cory Crean, Filip Sund, Robert Haschke, Sameer Gupta, azalutsky

2.6.0 (2022-11-10)

  • Log error when named joint state target does not exist (#1580)

  • Express Humble/Rolling differences in #if (#1620)

  • Fix deprecated declaration usage (#1598) * Fix type * Suppress warning * Add TODO

  • Merge PR #1553: Improve cmake files

  • Remove callback_executor_.is_spinning()

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

  • Improve CMake usage (#1550)

  • Remove __has_include statements (#1481)

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

  • Fix callback execution in MGI (#1305) The initial implementation with the private node allowed for concurrent spinning of the same node, producing runtime exceptions. This change removes the need for a private node by letting MGI manage its own CallbackGroup and Executor thread.

  • Changed ‘return false’ in plan, move and execute such that MoveItErrorCode is returned (#1266)

  • Add and fix dual arm test (#3119) * Add dual arm test * Fix and simplify UnionConstraintSampler: update joint transforms Co-authored-by: Cristian Beltran <cristianbehe@gmail.com> Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

  • Contributors: Abishalini Sivaraman, Henning Kayser, Robert Haschke, Rufus Wong, Sebastian Jahr, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel, tbastiaens-riwo

2.5.3 (2022-07-28)

2.5.2 (2022-07-18)

2.5.1 (2022-05-31)

2.5.0 (2022-05-26)

2.4.0 (2022-01-20)

  • Fix boost linking errors for Windows (#957)

  • Replace NULL with nullptr (#961) * Fixes #841

  • Merge https://github.com/ros-planning/moveit/commit/a0ee2020c4a40d03a48044d71753ed23853a665d

  • 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().

  • MGI: add missing replan/look options to interface (#2892) - reordered methods because looking requires replanning - there’s no sense in wrapping methods in methods. just use pimpl-friend paradigm instead. Someone could rework all the other methods in the future.

  • PSI: get object.pose from new msg field (#2877)

  • Contributors: Abishalini, Akash, Gauthier Hentz, Michael Görner, Robert Haschke, Stephanie Eng

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

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

  • Consider simulated time (#883)

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

  • Update Maintainers of MoveIt package (#697)

  • Find/replace deprecated spawner.py (#737)

  • common_objects: getSharedRobotModelLoader fix deadlock (#734)

  • fix trajectory constraints for moveit commander (#2429)

  • MGI::setStartState: Only fetch current state when new state is diff (#2775)

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

  • Contributors: AndyZe, Dave Coleman, David V. Lu!!, Felix von Drigalski, Gaël Écorchard, Henning Kayser, Jafar Abdi, Kevin Chang, Robert Haschke, pvanlaar

2.3.0 (2021-10-08)

  • Support passing MoveGroup’s namespace to MoveGroupInterface (#533)

  • Add getSharedRobotModelLoader to fix race condition when having multiple displays for the same node (#525)

  • Make TF buffer & listener in PSM private (#654) * Add private buffer & tf listener to PSM * Remove coupled deleter * Decouple PSM from CSM * Deprecate old constructors

  • getInterfaceDescription: Fix rclcpp API breakage (#686)

  • [main] Migrate to joint_state_broadcaster (#657)

  • 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)

  • Fix loading joint_limits.yaml in demo and test launch files (#544)

  • Fixes for Windows (#530)

  • Contributors: Akash, Jafar Abdi, Nisala Kalupahana, Jorge Nicho, Henning Kayser, Vatan Aksoy Tezer, Tyler Weaver, Lior Lustgarten

2.2.1 (2021-07-12)

  • Fix test dependencies (#539)

  • Contributors: Jochen Sprickerhof

2.2.0 (2021-06-30)

  • Enable Rolling and Galactic CI (#494)

  • [sync] with MoveIt’s master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4 * Allow selecting planning pipeline in MotionSequenceAction (#2657) * planning_interface: synchronize async interfaces in test (#2640) * Add planning_pipeline_id setting to Python MGI (#2622) * fix docstring in MGI API (#2626) * Support multiple planning pipelines with MoveGroup via MoveItCpp (#2127)

    • Deprecate namespace moveit::planning_interface in favor of moveit_cpp

    • add get_active_joint_names (#2533)

    • Add debugging log statement for a common error (#2509)

    • Replaced eigen+kdl conversions with tf2_eigen + tf2_kdl (#2472)

  • Contributors: Felix von Drigalski, Henning Kayser, JafarAbdi, Michael Görner, Peter Mitrano, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, petkovich

2.1.4 (2021-05-31)

  • Disable flaky test (#482)

  • Delete MoveIt fake_controller_manager (#471)

  • Contributors: AndyZe, Vatan Aksoy Tezer

2.1.3 (2021-05-22)

  • Configure OMPL projection_evaluator in move_group_launch_test_common.py (#470)

  • Contributors: Jafar Abdi

2.1.2 (2021-04-20)

  • Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Re-enable moveit_ros_warehouse for moveit_ros_planning_interface (#424) * Remove warehouse_ros_mongo from moveit_ros_planning_interface test depends

  • Unify PickNik name in copyrights (#419)

  • Contributors: Jafar Abdi, Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Update launch files to use ros2 control spawner (#405)

  • Use fake_components::GenericSystem from ros2_control (#361)

  • Solved small issue with a message not being logged due to an early return statement (#368)

  • OMPL constrained planning (#347)

  • 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] MGI server timeout, infinite duration by default (#349) By setting the default server timeout duration to -1, the MoveGroupInterface is ensured to be ready to use after construction.

  • [fix] export cmake library install (#339)

  • Fix scaling factor parameter names (#2452)

  • MTC compatibility fixes (#323)

  • Fix node remapping

  • Make sure planning scene interface have a unique name for the internal node

  • planning_scene_interface: Fix node name being empty

  • Fix repo URLs in package.xml files

  • Contributors: Boston Cleek, FlorisE, Henning Kayser, Jafar Abdi, Shota Aoki, 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

  • [maint] Compilation fixes for macOS (#271)

  • [ros2-migration] Port MoveGroupInterface and MotionPlanning display (#272)

  • Contributors: Henning Kayser, Jafar Abdi, Lior Lustgarten, Mark Moll, Yu Yan

2.0.0 (2020-02-17)

  • [fix] Install moveit_cpp as SHARED library

  • [fix] Fix parameter lookup and runtime in MoveItCpp

  • [fix] Fix moveit_ros_visualization (#167)

  • [fix] moveit_ros_planning_interface: Fix libraries export

  • [port] Port moveit_cpp to ROS 2 (#163)

  • [port] Port common_planning_interface_objects to ROS 2 (#159)

  • [port] Port rdf_loader to ROS2 (#104)

  • Contributors: Henning Kayser, Jafar Abdi

1.1.1 (2020-10-13)

1.1.0 (2020-09-04)

1.0.6 (2020-08-19)

  • [maint] Adapt repository for splitted moveit_resources layout (ros-planning:moveit#2199)

  • [maint] Migrate to clang-format-10, Fix warnings

  • [maint] Optimize includes (ros-planning:moveit#2229)

  • [feature] Exposed parameter wait_for_servers and getPlannerId() API in MoveGroup’s Python API (ros-planning:moveit#2201)

  • Contributors: Gerard Canal, Markus Vieth, Robert Haschke, Michael Görner

1.0.5 (2020-07-08)

  • [maint] Remove dependency on panda_moveit_config (ros-planning:moveit#2194 <https://github.com/ros-planning/moveit/issues/2194>`_, ros-planning:moveit#2197 <https://github.com/ros-planning/moveit/issues/2197>`_)

  • [maint] Adapt linking to eigenpy (ros-planning:moveit#2118)

  • [maint] Replace robot_model and robot_state namespaces with moveit::core (ros-planning:moveit#2135)

  • [feature] PlanningComponent: Load plan_request_params (ros-planning:moveit#2033)

  • [feature] MoveItCpp: a high-level C++ planning API (ros-planning:moveit#1656)

  • [fix] Validate action client pointer before access

  • [fix] Wait and check for the grasp service

  • [maint] Add tests for move_group interface (ros-planning:moveit#1995)

  • Contributors: AndyZe, Henning Kayser, Jafar Abdi, Michael Görner, Robert Haschke, Tyler Weaver, Yeshwanth

1.0.4 (2020-05-30)

1.0.3 (2020-04-26)

  • [feature] MoveGroupInterface: Add execution methods for moveit_msgs::RobotTrajectory (ros-planning:moveit#1955)

  • [feature] Allow to instantiate a PlanningSceneInterface w/ and w/o a running move_group node

  • [fix] Release Python GIL for C++ calls (ros-planning:moveit#1947)

  • [feature] Expose reference_point_position parameter in getJacobian() (ros-planning:moveit#1595)

  • [feature] MoveGroupInterface: Expose constructPickGoal and constructPlaceGoal (ros-planning:moveit#1498)

  • [feature] python MoveGroupInterface: Added custom time limit for wait_for_servers() (ros-planning:moveit#1444)

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

  • [maint] Fix errors: catkin_lint 1.6.7 (ros-planning:moveit#1987)

  • [maint] Improve Python 3 compatibility (ros-planning:moveit#1870) * Replaced StringIO with BytesIO for python msg serialization * Use py_bindings_tools::ByteString as byte-based serialization buffer on C++ side

  • [feature] Export moveit_py_bindings_tools library

  • [maint] Fix various build issues on Windows * Use .pyd as the output suffix for Python module on Windows. (ros-planning:moveit#1637) * Favor ros::Duration.sleep over sleep. (ros-planning:moveit#1634) * Fix binary artifact install locations. (ros-planning:moveit#1575)

  • [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (ros-planning:moveit#1607)

  • [maint] Updated deprecation method: MOVEIT_DEPRECATED -> [[deprecated]] (ros-planning:moveit#1748)

  • [maint] eigenpy: switched to system package (ros-planning:moveit#1737)

  • [featue] PlanningSceneInterface: wait for its two services

  • [feature] Select time parametrization algorithm in retime_trajectory (ros-planning:moveit#1508)

  • Contributors: Bjar Ne, Felix von Drigalski, Kunal Tyagi, Luca Rinelli, Masaki Murooka, Michael Görner, Niklas Fiedler, Robert Haschke, Sean Yen, Yu, Yan, mvieth, v4hn

1.0.2 (2019-06-28)

  • [maintenance] Removed unnecessary null pointer checks on deletion (ros-planning:moveit#1410)

  • Contributors: Mahmoud Ahmed Selim

1.0.1 (2019-03-08)

  • [improve] Apply clang tidy fix to entire code base (Part 1) (ros-planning:moveit#1366)

  • Contributors: Robert Haschke, Yu, Yan

1.0.0 (2019-02-24)

  • [fix] catkin_lint issues (ros-planning:moveit#1341)

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

  • Contributors: Dave Coleman, Robert Haschke

0.10.8 (2018-12-24)

0.10.7 (2018-12-13)

  • [fix] Fixed destruction order of shared tf2::Buffer / tf2::TransformListener (ros-planning:moveit#1261)

  • Contributors: Robert Haschke

0.10.6 (2018-12-09)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29)

0.10.3 (2018-10-29)

  • [capability] Get available planning group names from MoveGroup C++ (ros-planning:moveit#1159)

  • Contributors: Dave Coleman

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

  • [fix] MoveGroupInterface: Fixed computeCartesianPath to use selected end-effector. (ros-planning:moveit#580)

  • [capability][kinetic onward] Adapt pick pipeline to function without object (ros-planning:moveit#599)

  • [improve] Disabled copy constructors and added a move constructor to MoveGroupInterface (ros-planning:moveit#664)

  • Contributors: 2scholz, Dennis Hartmann, Jonathan Meyer, Simon Schmeisser

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

  • [improve] MoveGroupInterface: add public interface to construct the MotionPlanRequest (ros-planning:moveit#461)

  • Contributors: Michael Goerner

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.6.6 (2016-06-08)

  • replaced cmake_modules dependency with eigen

  • [jade] eigen3 adjustment

  • merge indigo-devel changes (PR ros-planning:moveit-ros#633 trailing whitespace) into jade-devel

  • Removed trailing whitespace from entire repository

  • planning_interface::MoveGroup::get/setPlannerParams

  • new method MoveGroup::getDefaultPlannerId(const std::string &group) … to retrieve default planner config from param server moved corresponding code from rviz plugin to MoveGroup interface to facilitate re-use

  • fixing conflicts, renaming variable

  • Merge pull request ros-planning:moveit-ros#589 from MichaelStevens/set_num_planning_attempts adding set_num_planning_attempts to python interface

  • comments addressed

  • Added python wrapper for setMaxVelocityScalingFactor

  • saves robot name to db from moveit. also robot name accessible through robot interface python wrapper

  • adding set_num_planning_attempts to python interface

  • Merge pull request ros-planning:moveit-ros#571 from ymollard/indigo-devel Added python wrapper for MoveGroup.asyncExecute()

  • Added python wrapper for MoveGroup.asyncExecute()

  • Add retime_trajectory to moveit python wrapper

  • add getHandle to move_group_interface

  • Updated documentation on move() to inform the user that an asynchronus spinner is required. Commonly new users don’t do this and move() blocks permanently

  • Contributors: Dave Coleman, Dave Hershberger, Isaac I.Y. Saito, Kei Okada, Michael Stevens, Robert Haschke, Sachin Chitta, Scott, Yoan Mollard, dg, ferherranz

0.6.5 (2015-01-24)

  • update maintainers

  • Add time factor support for iterative_time_parametrization

  • Contributors: Michael Ferguson, kohlbrecher

0.6.4 (2014-12-20)

0.6.3 (2014-12-03)

  • include correct boost::*_ptr class for boost 1.57.

  • Contributors: v4hn

0.6.2 (2014-10-31)

0.6.1 (2014-10-31)

0.6.0 (2014-10-27)

  • Add missing variants of place (PlaceLocation, place anywhere) for python interface

  • Python wrapper for getEndEffectorTips()

  • Contributors: Dave Coleman, Sachin Chitta, corot

0.5.19 (2014-06-23)

  • Add check for planning scene monitor connection, with 5 sec delay

  • Contributors: Dave Coleman

0.5.18 (2014-03-23)

0.5.17 (2014-03-22)

  • update build system for ROS indigo

  • added move_group python interface bindings to move group interface function: void setPathConstraints(const moveit_msgs::Constraint &constraint) in order to be able to set path constraints from python scripts directly and no need to use the DB.

  • Use member NodeHandle in action clients. Currently services and topics are already using the member NodeHandle instance, but not the action clients. This is relevant for two reasons: - Consistency in the resulting ROS API namespace (everything in the same namespace). - Consistency in the spinning policy. All services, topics and actions will be spinned by the same NodeHandle, and whatever custom (or not) spinners and callback queues it has associated.

  • adding error code returns to relevant functions

  • Contributors: Adolfo Rodriguez Tsouroukdissian, Emili Boronat, Ioan A Sucan, Sachin Chitta

0.5.16 (2014-02-27)

  • adding node handle to options in move_group_interface

  • adding get for active joints

  • Contributors: Sachin Chitta

0.5.14 (2014-02-06)

0.5.13 (2014-02-06)

  • add API for setting the number of motion plans to be evaluated via the MoveGroupInterface

  • move_group_interface: improve documentation

  • Contributors: Acorn Pooley, Ioan Sucan

0.5.12 (2014-01-03)

0.5.11 (2014-01-03)

  • Fixed bug in computeCartesianPathPython.

  • Adding collision object interface to planning_scene interface.

  • Contributors: Acorn Pooley, Sachin Chitta

0.5.10 (2013-12-08)

0.5.9 (2013-12-03)

  • Fixed doxygen function-grouping.

  • Added planning feedback to gui, refactored states tab

0.5.8 (2013-10-11)

  • add function to start state monitor in move_group_interface::MoveGroup

0.5.7 (2013-10-01)

0.5.6 (2013-09-26)

  • update planning options

0.5.5 (2013-09-23)

  • add support for setting joint targets from approximate IK

  • specifies python version 2.7 for linking (fixes ros-planning:moveit-ros#302)

  • use new messages for pick & place

  • expand functionality of MoveGroupInterface

  • porting to new RobotState API

0.5.4 (2013-08-14)

  • make pick more general

  • use message serialization for python bindings

  • 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

0.5.2 (2013-07-15)

  • move msgs to common_msgs

0.5.1 (2013-07-14)

0.5.0 (2013-07-12)

  • white space fixes (tabs are now spaces)

0.4.5 (2013-07-03)

0.4.4 (2013-06-26)

  • some refactoring