CHANGELOG

Changelog for package roboplan

0.3.0 (2026-04-18)

  • Incorporate scene and joint groups into OInK (#177)

  • Add octree support (#139)

  • Add console_bridge to cmake (#172)

  • Add bisection option when checking collisions along path and optimize RRT visualization (#164)

  • Add scene methods to get joint limit vectors (#162)

  • Validate subgroup parsing order issues in SRDF (#157)

  • Fix position limits oink constraint for models with continuous joints (#147)

  • Contributors: Cihat Kurtuluş Altıparmak, Rafael A. Rojas, Sebastian Castro

0.2.0 (2026-02-16)

  • Fix usage of tinyxml2 and tl_expected dependencies (#124)

  • Optimal differential IK solver (#110)

  • Contributors: Sebastian Castro, Sebastian Jahr

0.1.0 (2026-01-19)

  • Add argument names and basic docstrings to Python bindings (#114)

  • Improve error reporting in scene_utils map access (#113)

  • Organize examples (#95)

  • More consts in the Scene member accessors and python tests (#94)

  • Add initial ReadTheDocs setup (#90)

  • Fix applyMimics binding by copying and returning a value (#88)

  • Allow setting collision pairs (#85)

  • Support collision objects in scene (#80)

  • Make example models locatable in Rviz (#82)

  • Add basic unit test for continuous and mimic joints (#75)

  • Support continuous joints in RRT and TOPP-RA (#73)

  • Ensure the sampled points are actually connectable in path shortcutting (#71)

  • Support joint groups (#64)

  • Add Kinova + Robotiq model, initial limited support for continuous and mimic joints (#59)

  • Reorder ament_cmake include in CMakeLists to resolve test and symlink install issues (#63)

  • Add an example model with two fr3s (#50)

  • Fix forward kinematics calc (#61)

  • Create map of frame names to IDs in Scene (#58)

  • Organize Python bindings (#51)

  • Fix path shortcutting logic (#46)

  • Specify acceleration and jerk limits through YAML config file (#45)

  • TOPP-RA path parameterization (#42)

  • Add tl::expected wrapping (#36)

  • Add path shortening utils and consolidate examples (#33)

  • Visualize RRTs with Viser (#25)

  • Respect Joint Limits for Start and Goal Poses and Add Planning Timeout for RRT (#23)

  • First vanilla RRT implementation with dynotree (#16)

  • Add vanilla CMake workflow (#12)

  • Test all active ROS distros (#11)

  • Collision checking functionality (#10)

  • Generate random positions from scene (#8)

  • Move models to roboplan_example_models package (#7)

  • Add basic unit testing pipeline (#5)

  • Add simple IK solver (#3)

  • Reorganize packages (#2)

  • Contributors: Catarina Pires, Erik Holum, Ola Ghattas, Sebastian Castro