Package Summary

Tags No category tags.
Version 2.9.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2024-02-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt

Additional Links

Maintainers

  • Henning Kayser
  • Tyler Weaver
  • Michael Görner
  • MoveIt Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley
  • Dave Coleman

MoveIt Core

This repository includes core libraries used by MoveIt: - representation of kinematic models - collision detection interfaces and implementations - interfaces for kinematic solver plugins - interfaces for motion planning plugins - interfaces for controllers and sensors

These libraries do not depend on ROS (except ROS messages) and can be used independently.

CHANGELOG

Changelog for package moveit_core

2.9.0 (2024-01-09)

  • (core) Remove all references to python wrapper from the core pkg (#2623)
    • (core) remove commented python wrapper code
    • (core) remove dep on pybind11_vendor
  • Add missing pluginlib dependency (#2641)
  • make time_optimal_trajectory_generation harder to misuse (#2624)
    • make time_optimal_trajectory_generation harder to misuse
    • style fixes
    • more style fixes
    • more style fixes
    • address PR comments
  • Add collision_detection dependency on pluginlib (#2638) It is included by src/collision_plugin_cache.cpp, so it should be set as a dependency.
  • reset accelerations on setToDefaultValues (#2618)
  • fix out-of-bounds memory access with zero-variable joints (#2617)
  • Node logging for the rest of MoveIt (#2599)
  • Sync Ruckig with MoveIt1 (#2596)
    • Debug Ruckig tests (MoveIt1 3300)
    • Add a test, termination condition bugfix (MoveIt1 3348)
    • Mitigate Ruckig overshoot (MoveIt1 3376)
    • Small variable fixup
  • Add missing header (#2592)
  • Depend on [rsl::rsl]{.title-ref} as a non-Ament dependency (#2578)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Pass more distance information out from FCL collision check (#2572)

    • Pass more distance information out from FCL collision check

    * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Node logging in moveit_core (#2503)

  • Benchmark robot state (#2546)

    • simplify memory management in RobotState
    • further changes
    • avoid pointer arithmetic where possible
    • fix memory access issue on root joint with 0 variables
    • fix vector size
    • remove unused header
  • Remember original color of objects in planning scene (#2549)

  • Allow editing allowed collision matrix in python + fix get_entry function (#2551) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Fix angular distance calculation in floating joint model (#2538)

  • Add a benchmark for RobotTrajectory creation and timing. (#2530)

  • Consolidate RobotState benchmarks in single file (#2528)

    • Consolidate RobotState benchmarks in single file
    • some cosmetics
    • style fixes
    • additional comments
  • add rsl depend to moveit_core (#2532)

    • This should fix #2516
    • Several moveit2 packages already depend on rsl

    - PR #2482 added a depend in moveit_core This is only broken when building all of moveit2 deps in one colcon workspace And not using rosdep because colcon uses the package.xml and rsl might not have been built

  • Avoid calling static node\'s destructor. (#2513)

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

  • Use node logging in moveit_ros (#2482)

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

  • Use default initializers in collision_common.h (#2475)

  • Node logger through singleton (warehouse) (#2445) Co-authored-by: Abishalini Sivaraman <abi.gpuram@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Smoothing plugin API update and bug fix (#2470)

    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <andyz@utexas.edu> - Link against Eigen, not tf2_eigen - Don\'t resize every time - Don\'t reset the smoother_ every time - Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <ibrahimjkd@gmail.com> Co-authored-by: V Mohammed Ibrahim <12377945+ibrahiminfinite@users.noreply.github.com>

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

  • Fix typo in bullet function name (#2472)

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

  • Port #3464 from MoveIt1 (#2456) * Port unit test cherry-pick of https://github.com/ros-planning/moveit/pull/3464 * Increment added_path_index in callAdapter Doesn\'t work because previous=0 for all recursively called functions. * Pass individual add_path_index vectors to callAdapter ---------Co-authored-by: Hugal31 <hla@lescompanions.com>

  • [Python] Add RetimeTrajectory to RobotTrajectory (#2411)

    • [Python] Add RetimeTrajectory to RobotTrajectory

    * Split retime trajecotry in multiple functions Moved logic to trajectory_tools Added Docstrings * Removed retime function from python binding ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Use find_package for fcl (#2399)

  • Remove old deprecated functions (#2384)

  • Make getJacobian simpler and faster (#2389)

    • Make getJacobian simpler and faster
    • readability and const-correctness
    • fix issue when joint group is not at URDF origin
    • Update moveit_core/robot_state/src/robot_state.cpp
  • Add RobotState::getJacobian() tests (#2375)

  • Compare MoveIt! Jacobian against KDL (#2377)

  • Update clang-format-14 with QualifierAlignment (#2362)

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Converts float to double (#2343) * Limiting the scope of variables #874 Limited the scope of variables in moveit_core/collision_detection * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu>

    • convert float to double
    • change double to float
    • Feedback fixes
    • Introduced variables removed from previous merge commit
    • Updated GL_Renderer function definitions with double instead of float
    • Changed update() function arguments to float since it is a derived virtual function and needs to be overriden
    • Fixed all override errors in visualization

    * *Fixed override errors in perception*Changed reinterpret_cast to double* from float* - change variable types to fit function definition - Fixed clang-tidy warnings

    * Fixed scope of reusable variables ---------Co-authored-by: Salah Soliman <salahsoliman96@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Alex Moriarty, AndyZe, Chris Lalancette, Chris Thrasher, Jens Vanhooydonck, Mario Prats, Marq Rasmussen, Matthijs van der Burgh, Nacho Mellado, Rayene Messaoud, Robert Haschke, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Stephanie Eng, Tyler Weaver

2.8.0 (2023-09-10)

  • Add a benchmark for \'getJacobian\' (#2326)
  • [TOTG] Exit loop when position can\'t change (#2307)
  • Remove added path index from planner adapter function signature (#2285)
  • Fix typo in error message (#2286)
  • Fix comment formatting (#2276)
  • Cleanup planning request adapter interface (#2266)

    • Use default arguments instead of additional functions
    • Use generate param lib for default plan request adapters
    • Small cleanup of ResolveConstraintFrames
    • Remove dublicate yaml file entry
    • Move list_planning_adapter_plugins into own directory

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> - Fix copy& paste error

    * Update parameter descriptions Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Apply suggestions from code review Co-authored-by: Kyle Cesare <kcesare@gmail.com> - EMPTY_PATH_INDEX_VECTOR -> empty_path_index_vector - Update parameter yaml - Make param listener unique - Fix build error

    * Use gt_eq instead of deprecated lower_bounds ---------Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Kyle Cesare <kcesare@gmail.com>

  • fix for kinematic constraints parsing (#2267)

  • Contributors: Jorge Nicho, Mario Prats, Nacho Mellado, Sebastian Jahr, Stephanie Eng

2.7.4 (2023-05-18)

  • Add documentation and cleanups for PlanningRequestAdapter and PlanningRequestAdapterChain classes (#2142)
    • Cleanups
    • Add documentation and more cleanups
    • Revert size_t change
  • Fix collision checking in VisibilityConstraint (#1986)
  • Alphabetize, smart pointer not needed (#2148)
    • Alphabetize, smart pointer not needed
    • Readability
  • Fix getting variable bounds in mimic joints for TOTG (#2030)

    • Fix getting variable bounds in mimic joints for TOTG
    • Formatting
    • Remove unnecessary code
    • Do not include mimic joints in timing calculations
    • Change joint variable bounds at mimic creation time
    • Braces take you places
    • Fix other single-line if-else without braces in file for clang_tidy
    • Remove mimic bounds modification
    • Variable renaming and a comment

    * Fix index naming ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Joseph Schornak, Sebastian Castro, Sebastian Jahr

2.7.3 (2023-04-24)

2.7.2 (2023-04-18)

  • Add JointModel::satisfiesAccelerationBounds() (#2092)

    • Add JointModel::satisfiesAccelerationBounds()
    • Check Jerk bounds too

    * Check if bounds exist ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • A ROS param for Servo filter coefficient (#2091)

    • Add generate_parameter_library as dependency
    • Generate and export parameter target
    • Update butterworth filter to use params
    • Move param listener declaration to header
    • Formatting
    • Remove unnecessary rclcpp include
    • Fix alphabetical order
    • Make param listener local
    • Fix target exporting in cmake
    • Add moveit_ prefix to parameter library target
    • Remove obsolete comment
    • Member variable naming

    * Alphabetize ---------Co-authored-by: AndyZe <andyz@utexas.edu>

  • Merge pull request #1900 from Abishalini/pr-sync-1245f15 Sync with MoveIt1

  • Readd comment and assign error code

  • Merge https://github.com/ros-planning/moveit/commit/1245f151393fe09023efec3e1faead2d26737227

  • Add test and debug issue where TOTG returns accels > limit (#2084)

  • Move stateless PlanningScene helper functions out of the class (#2025)

  • Document how collision checking includes descendent links (#2058)

  • Optionally mitigate Ruckig overshoot (#2051)

    • Optionally mitigate Ruckig overshoot
    • Cleanup
  • Delete the Ruckig \"batches\" option, deprecated by #1990 (#2028)

  • Merge PR #3197: Improve computeCartesianPath()

  • Gracefully handle gtest 1.8 (Melodic) gtest 1.8 doesn\'t provide SetUpTestSuite(). Thus, we cannot share the RobotModel across tests.

  • Add unit tests for computeCartesianPath()

  • Add utils to simplify (approximate) equality checks for Eigen entities

  • robot_model_test_utils: Add loadIKPluginForGroup()

  • Simplify test_cartesian_interpolator.cpp

  • Generalize computeCartesianPath() to consider a link_offset This allows performing a circular motion about a non-link origin.

  • Cleanup CartesianInterpolator

    • Fixup doc comments
    • Add API providing the translation vector = direction * distance
    • Simplify implementation
  • Contributors: Abishalini, Abishalini Sivaraman, AndyZe, Robert Haschke, V Mohammed Ibrahim

2.7.1 (2023-03-23)

  • Ruckig-smoothing : reduce number of duration extensions (#1990)

    • extend duration only for failed segment
    • update comment
    • Remove trajectory reset before extension
    • readability improvement

    * Remove call to RobotState update ---------Co-authored-by: ibrahiminfinite <> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Fix mimic joints with TOTG (#1989)

  • changed C style cast to C++ style cast for void type (#2010) (void) -> static_cast<void>

  • Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Fix Ruckig termination condition (#1963)

  • Fix ci-testing build issues (#1998)

  • Fix invalid case style for private member in RobotTrajectory

  • Fix unreachable child logger instance

  • Document the Butterworth filter better (#1961)

  • Merge pull request #1546 from peterdavidfagan/moveit_py Python Bindings - moveit_py

  • remove old python bindings

  • remove underscore from public member in MotionPlanResponse (#1939)

    • remove underscore from private members
    • fix more uses of the suffix notation
  • Contributors: AlexWebb, AndyZe, Henning Kayser, Jafar, Robert Haschke, Sebastian Castro, Shobuj Paul, V Mohammed Ibrahim, peterdavidfagan

2.7.0 (2023-01-29)

  • Merge PR #1712: fix clang compiler warnings + stricter CI
  • Don\'t use ament_export_targets from package sub folder (#1889)
  • kinematic_constraints: update header frames (#1890)
  • Install collision_detector_bullet_plugin from moveit_core
  • Sort exports from moveit_core
  • Clean up kinematic_constraints/utils, add update functions (#1875)
  • Merge https://github.com/ros-planning/moveit/commit/9225971216885490e933ece25390c63ca14f8a58
  • converted characters from string format to character format (#1881)
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Add velocity and acceleration scaling when using custom limits in Time Parameterization (#1832)

    • add velocity and accelerations scaling when using custom limits for time parameterization
    • add scaling when passing in vecotor of joint-limits
    • add function descriptions
    • add verifyScalingFactor helper function
    • make map const
    • address feedback

    * add comment Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>

  • 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 GoogleTestVerification.UninstantiatedTypeParameterizedTestSuite

  • Modernize gtest: TYPED_TEST_CASE -> TYPED_TEST_SUITE

  • Fix warning: expression with side effects will be evaluated

  • Fix warning: definition of implicit copy assignment operator is deprecated

  • Cleanup msg includes: Use C++ instead of C header (#1844)

  • Fix trajectory unwind bug (#1772)

    • ensure trajectory starting point\'s position is enforced
    • fix angle jump bug
    • handle bounds enforcement edge case
    • clang tidy
    • Minor renaming, better comment, use .at() over []
    • First shot at a unit test
    • fix other unwind bugs
    • test should succeed now
    • unwind test needs a model with a continuous joint
    • clang tidy
    • add test for unwinding from wound up robot state
    • clang tidy

    * tweak test for special case to show that it will fail without these changes Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Require velocity and acceleration limits in TOTG (#1794)

    • Require vel/accel limits for TOTG

    * Comment improvements Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Use adjustable waypoint batch sizes for Ruckig (#1719)

    • Use adjustable waypoint batch sizes for Ruckig
    • Use std::optional for return value
    • Cleanup
    • Add comment about parameterizing
    • Fix potential segfault
    • Batch size argument
    • Use append()

    * Revert \"Use append()\" This reverts commit 96b86a6c783b05ba57e5a6a20bf901cd92ab74d7.

  • Fix moveit_core dependency on tf2_kdl (#1817) This is a proper dependency, and not only a test dependency. It is still needed when building moveit_core with -DBUILD_TESTING=OFF.

  • Bug fix: RobotTrajectory append() (#1813)

    • Add a test for append()
    • Don\'t add to the timestep, rather overwrite it
  • Print a warning from TOTG if the robot model mixes revolute/prismatic joints (#1799)

  • Tiny optimizations in enforcePositionBounds() for RevoluteJointModel (#1803)

  • Better TOTG comments (#1779) * Increase understanding of TOTG path_tolerance_ Tiny readability optimization - makes it a little easier for people to figure out what [path_tolerance_]{.title-ref} does

    • Update the units of path_tolerance_
    • Comment all 3 versions of computeTimeStamps
    • Add param for num_waypoints

    * More clarity on units Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Nathan Brooks <nathan.brooks@picknik.ai>

  • Fix BSD license in package.xml (#1796)

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • Remove unnecessary CMake variables and lists (#1790)

  • Stopping calling MoveIt an alpha-stage project (#1789)

  • Ensure all headers get installed within moveit_core directory (#1786)

  • Set the resample_dt_ member of TOTG back to const (#1776)

    • Set the resample_dt_ member of TOTG back to const

    * Remove unused TOTG instance in test Co-authored-by: Henning Kayser <henningkayser@picknik.ai> * Add \"totg\" to function name Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove Iterative Spline and Iterative Parabola time-param algorithms (v2) (#1780)

    • Iterative parabolic parameterization fails for nonzero initial/final conditions
    • Iterative spline parameterization fails, too
    • Delete Iterative Spline & Iterative Parabola algorithms
  • Use [target_include_directories]{.title-ref} (#1785)

  • Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.

  • Enable [-Wold-style-cast]{.title-ref} (#1770)

  • Add a version of TOTG computeTimeStamps() for a fixed num waypoints (#1771)

    • Add a version of computeTimeStamps() to yield a fixed num. waypoints
    • Add unit test
    • Prevent an ambiguous function signature
    • Remove debugging stuff
    • Can\'t have fewer than 2 waypoints
    • Warning about sparse waypoint spacing
    • Doxygen comments
    • Clarify about changing the shape of the path

    * Better comment Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Add [-Wunused-function]{.title-ref} (#1754)

  • Remove [MOVEIT_LIB_NAME]{.title-ref} (#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>

  • 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]{.title-ref} 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_.

  • Small optimization in constructGoalConstraints() (#1707)

    • Small optimization in constructGoalConstraints()

    * Quat defaults to unity Co-authored-by: Henning Kayser <henningkayser@picknik.ai> 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>

  • Generate version.h with git branch and commit hash (#2793)

    • Generate version.h on every build and include git hash and branch/tag name
    • Don\'t generate \"alpha\" postfix on buildfarm
    • Show git version via moveit_version

    * Change version postfix: alpha -> devel Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

  • Contributors: Abhijeet Das Gupta, Abishalini, AndyZe, Captain Yoshi, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Nathan Brooks, Robert Haschke, Sameer Gupta, Scott K Logan, Tyler Weaver

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>

  • Parallel planning pipelines (#1420)

    • Add setTrajectoryConstraints() to PlanningComponent
    • Add planning time to PlanningComponent::PlanSolution
    • Replace PlanSolution with MotionPlanResponse
    • Address review

    * Add MultiPipelinePlanRequestParameters Add plan(const MultiPipelinePlanRequestParameters& parameters) Add mutex to avoid segfaults Add optional stop_criterion_callback and solution_selection_callback Remove stop_criterion_callback Make default solution_selection_callback = nullptr Remove parameter handling copy&paste code in favor of a template Add TODO to refactor pushBack() method into insert() Fix selection criteria and add RCLCPP_INFO output Changes due to rebase and formatting Fix race condition and segfault when no solution is found Satisfy clang tidy Remove mutex and thread safety TODOs Add stopping functionality to parallel planning Remove unnecessary TODOs - Fix unused plan solution with failure - Add sanity check for number of parallel planning problems - Check stopping criterion when new solution is generated + make thread safe - Add terminatePlanningPipeline() to MoveItCpp interface - Format! - Bug fixes - Move getShortestSolution callback into own function - No east const - Remove PlanSolutions and make planner_id accessible - Make solution executable - Rename update_last_solution to store_solution - Alphabetize includes and include plan_solutions.hpp instead of .h - Address review - Add missing header

    * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Deprecate lookupParam function (#1681)

  • Add new error types (moveit_msgs #146) (#1683)

    • Add new error types (moveit_msgs #146)
    • Add default case

    * Small change to the default case Co-authored-by: Tyler Weaver <maybe@tylerjw.dev> Co-authored-by: Tyler Weaver <maybe@tylerjw.dev>

  • Planning request adapters: short-circuit if failure, return code rather than bool (#1605)

    • Return code rather than bool
    • Remove all debug prints
    • Small fixup
    • Minor cleanup of comment and error handling
    • void return from PlannerFn
    • Control reaches end of non-void function
    • Use a MoveItErrorCode cast
    • More efficient callAdapter()
    • More MoveItErrorCode
    • CI fixup attempt
  • Improve Cartesian interpolation (#1547) * Generalize computeCartesianPath() to consider a link_offset which allows performing a circular motion about a non-link origin. * Augment reference to argument global_reference_frame Co-authored-by: AndyZe <andyz@utexas.edu>

  • Remove unused clock from RobotTrajectory (#1639)

  • Added brace intialization in moveit_core/collision_detection_fcl & moveit_core/collision_detection_field (#1622)

  • added brace intialization (#1615)

  • Merge PR #1553: Improve cmake files

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

  • moveit_core/collision_detection: fix include order moveit_planning_scene\'s include directories have to be appended to the include directories found by ament_target_dependencies().

  • Add missing srdfdom dependency

  • Improve CMake usage (#1550)

  • size_t bijection index type (#1544)

  • Free functions for calculating properties of trajectories (#1503) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Const ptr to jmg arg for cost function (#1537)

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

  • Add error_code_to_string function (#1523)

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

  • Unified code comment style (#1053) * Changes the comment style from /**/ to // Co-authored-by: JafarAbdi <cafer.abdi@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove sensor manager (#1172)

  • Fixed fabs() use in quaternion interpolation (#1479)

    • Interpolate using Eigen::Quaternion::slerp() to (hopefully) save us further headaches and take advantage of Eigen probably having a better implementation than us.

    * Created a test case that fails for the old version, but passes for the new. Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Fixes for using generate_state_database (#1412)

  • fix path to constraints parameters

  • Remove __has_include statements (#1481)

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

  • Remove ConstraintSampler::project() (#3170) * Remove unused ompl_interface::ValidConstrainedSampler Last usage was removed in f2f6097ab7e272568d6ab258a53be3c7ca67cf3b. * Remove ConstraintSampler::project() sample() and project() only differ in whether they perform random sampling of the reference joint pose or not. Both of them are sampling. This was highly confusing, as from project() one wouldn\'t expect sampling.

  • 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: Abhijeet Das Gupta, Abishalini Sivaraman, Alaa, AndyZe, Henning Kayser, J. Javan, Michael Marron, Robert Haschke, Sebastian Jahr, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel, werner291

2.5.3 (2022-07-28)

  • Constraint samplers seed (#1411)
  • Contributors: Henry Moore

2.5.2 (2022-07-18)

  • Added const to moveit_core/collision_detection per issue 879 (#1416)
  • Add generic cost function to KinematicsBase, CartesianInterpolator, and RobotState (#1386)
  • Merge pull request #1402 from Abishalini/pr-sync-a436a97 Sync with MoveIt
  • Merge https://github.com/ros-planning/moveit/commit/a436a9771f7445c162cc3090c4c7c57bdb5bf194
  • Merge https://github.com/ros-planning/moveit/commit/c88f6fb64e9057a4b9a8f6fafc01060e8c48a216
  • Merge remote-tracking branch \'origin/main\' into feature/msa
  • Removing more boost usage (#1372)
  • Fix PlanarJointModel::satisfiesPositionBounds (#1353) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • Type safety for CartesianInterpolator (#1325)
  • 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)
  • Fix PlanarJointModel::satisfiesPositionBounds (#3160)
  • Port OMPL orientation constraints to MoveIt2 (#1273) Co-authored-by: JeroenDM <jeroendemaeyer@live.be> Co-authored-by: AndyZe <andyz@utexas.edu>
  • Switch to hpp headers of pluginlib
  • Adds another test case to #3124 and adds some further minor improvements to the original PR (#3142)
  • Fix bug in applying planning scene diffs that have attached collision objects (#3124) Co-authored-by: AndyZe <andyz@utexas.edu>
  • Fix flaky constraint sampler test (#3135)
  • Constraint samplers with seed (#3112) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
  • Fix clang-tidy warning (#3129)
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • Fix clang-tidy
  • using namespace collision_detection
  • banish bind()
  • various: prefer objects and references over pointers
  • Migrate PRA internals to lambdas
  • drop unused arguments not needed for lambda binding
  • simplify distance field method binding
  • Fix null pointer access to CollisionEnvObject in PlanningScene (#3104)
  • Contributors: Abishalini, Bilal Gill, David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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Dependant Packages

Name Repo Deps
moveit github-ros-planning-moveit2
moveit_kinematics github-ros-planning-moveit2
moveit_planners_chomp github-ros-planning-moveit2
chomp_motion_planner github-ros-planning-moveit2
moveit_planners_ompl github-ros-planning-moveit2
pilz_industrial_motion_planner github-ros-planning-moveit2
pilz_industrial_motion_planner_testutils github-ros-planning-moveit2
moveit_planners_stomp github-ros-planning-moveit2
moveit_resources_prbt_ikfast_manipulator_plugin github-ros-planning-moveit2
moveit_ros_control_interface github-ros-planning-moveit2
moveit_simple_controller_manager github-ros-planning-moveit2
moveit_py github-ros-planning-moveit2
moveit_ros_benchmarks github-ros-planning-moveit2
moveit_hybrid_planning github-ros-planning-moveit2
moveit_ros_move_group github-ros-planning-moveit2
moveit_servo github-ros-planning-moveit2
moveit_ros_occupancy_map_monitor github-ros-planning-moveit2
moveit_ros_perception github-ros-planning-moveit2
moveit_ros_planning github-ros-planning-moveit2
moveit_ros_planning_interface github-ros-planning-moveit2
moveit_ros_robot_interaction github-ros-planning-moveit2
moveit_ros_tests github-ros-planning-moveit2
moveit_ros_warehouse github-ros-planning-moveit2
moveit_runtime github-ros-planning-moveit2
moveit_setup_framework github-ros-planning-moveit2
moveit_visual_tools github-ros-planning-moveit_visual_tools
moveit_task_constructor_capabilities github-ros-planning-moveit_task_constructor
moveit_task_constructor_core github-ros-planning-moveit_task_constructor
moveit_task_constructor_demo github-ros-planning-moveit_task_constructor
moveit_task_constructor_visualization github-ros-planning-moveit_task_constructor
reach_ros github-ros-industrial-reach_ros2
pick_ik github-PickNikRobotics-pick_ik

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Package Summary

Tags No category tags.
Version 2.9.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2024-02-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt

Additional Links

Maintainers

  • Henning Kayser
  • Tyler Weaver
  • Michael Görner
  • MoveIt Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley
  • Dave Coleman

MoveIt Core

This repository includes core libraries used by MoveIt: - representation of kinematic models - collision detection interfaces and implementations - interfaces for kinematic solver plugins - interfaces for motion planning plugins - interfaces for controllers and sensors

These libraries do not depend on ROS (except ROS messages) and can be used independently.

CHANGELOG

Changelog for package moveit_core

2.9.0 (2024-01-09)

  • (core) Remove all references to python wrapper from the core pkg (#2623)
    • (core) remove commented python wrapper code
    • (core) remove dep on pybind11_vendor
  • Add missing pluginlib dependency (#2641)
  • make time_optimal_trajectory_generation harder to misuse (#2624)
    • make time_optimal_trajectory_generation harder to misuse
    • style fixes
    • more style fixes
    • more style fixes
    • address PR comments
  • Add collision_detection dependency on pluginlib (#2638) It is included by src/collision_plugin_cache.cpp, so it should be set as a dependency.
  • reset accelerations on setToDefaultValues (#2618)
  • fix out-of-bounds memory access with zero-variable joints (#2617)
  • Node logging for the rest of MoveIt (#2599)
  • Sync Ruckig with MoveIt1 (#2596)
    • Debug Ruckig tests (MoveIt1 3300)
    • Add a test, termination condition bugfix (MoveIt1 3348)
    • Mitigate Ruckig overshoot (MoveIt1 3376)
    • Small variable fixup
  • Add missing header (#2592)
  • Depend on [rsl::rsl]{.title-ref} as a non-Ament dependency (#2578)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Pass more distance information out from FCL collision check (#2572)

    • Pass more distance information out from FCL collision check

    * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Node logging in moveit_core (#2503)

  • Benchmark robot state (#2546)

    • simplify memory management in RobotState
    • further changes
    • avoid pointer arithmetic where possible
    • fix memory access issue on root joint with 0 variables
    • fix vector size
    • remove unused header
  • Remember original color of objects in planning scene (#2549)

  • Allow editing allowed collision matrix in python + fix get_entry function (#2551) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Fix angular distance calculation in floating joint model (#2538)

  • Add a benchmark for RobotTrajectory creation and timing. (#2530)

  • Consolidate RobotState benchmarks in single file (#2528)

    • Consolidate RobotState benchmarks in single file
    • some cosmetics
    • style fixes
    • additional comments
  • add rsl depend to moveit_core (#2532)

    • This should fix #2516
    • Several moveit2 packages already depend on rsl

    - PR #2482 added a depend in moveit_core This is only broken when building all of moveit2 deps in one colcon workspace And not using rosdep because colcon uses the package.xml and rsl might not have been built

  • Avoid calling static node\'s destructor. (#2513)

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

  • Use node logging in moveit_ros (#2482)

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

  • Use default initializers in collision_common.h (#2475)

  • Node logger through singleton (warehouse) (#2445) Co-authored-by: Abishalini Sivaraman <abi.gpuram@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Smoothing plugin API update and bug fix (#2470)

    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <andyz@utexas.edu> - Link against Eigen, not tf2_eigen - Don\'t resize every time - Don\'t reset the smoother_ every time - Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <ibrahimjkd@gmail.com> Co-authored-by: V Mohammed Ibrahim <12377945+ibrahiminfinite@users.noreply.github.com>

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

  • Fix typo in bullet function name (#2472)

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

  • Port #3464 from MoveIt1 (#2456) * Port unit test cherry-pick of https://github.com/ros-planning/moveit/pull/3464 * Increment added_path_index in callAdapter Doesn\'t work because previous=0 for all recursively called functions. * Pass individual add_path_index vectors to callAdapter ---------Co-authored-by: Hugal31 <hla@lescompanions.com>

  • [Python] Add RetimeTrajectory to RobotTrajectory (#2411)

    • [Python] Add RetimeTrajectory to RobotTrajectory

    * Split retime trajecotry in multiple functions Moved logic to trajectory_tools Added Docstrings * Removed retime function from python binding ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Use find_package for fcl (#2399)

  • Remove old deprecated functions (#2384)

  • Make getJacobian simpler and faster (#2389)

    • Make getJacobian simpler and faster
    • readability and const-correctness
    • fix issue when joint group is not at URDF origin
    • Update moveit_core/robot_state/src/robot_state.cpp
  • Add RobotState::getJacobian() tests (#2375)

  • Compare MoveIt! Jacobian against KDL (#2377)

  • Update clang-format-14 with QualifierAlignment (#2362)

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Converts float to double (#2343) * Limiting the scope of variables #874 Limited the scope of variables in moveit_core/collision_detection * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu>

    • convert float to double
    • change double to float
    • Feedback fixes
    • Introduced variables removed from previous merge commit
    • Updated GL_Renderer function definitions with double instead of float
    • Changed update() function arguments to float since it is a derived virtual function and needs to be overriden
    • Fixed all override errors in visualization

    * *Fixed override errors in perception*Changed reinterpret_cast to double* from float* - change variable types to fit function definition - Fixed clang-tidy warnings

    * Fixed scope of reusable variables ---------Co-authored-by: Salah Soliman <salahsoliman96@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Alex Moriarty, AndyZe, Chris Lalancette, Chris Thrasher, Jens Vanhooydonck, Mario Prats, Marq Rasmussen, Matthijs van der Burgh, Nacho Mellado, Rayene Messaoud, Robert Haschke, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Stephanie Eng, Tyler Weaver

2.8.0 (2023-09-10)

  • Add a benchmark for \'getJacobian\' (#2326)
  • [TOTG] Exit loop when position can\'t change (#2307)
  • Remove added path index from planner adapter function signature (#2285)
  • Fix typo in error message (#2286)
  • Fix comment formatting (#2276)
  • Cleanup planning request adapter interface (#2266)

    • Use default arguments instead of additional functions
    • Use generate param lib for default plan request adapters
    • Small cleanup of ResolveConstraintFrames
    • Remove dublicate yaml file entry
    • Move list_planning_adapter_plugins into own directory

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> - Fix copy& paste error

    * Update parameter descriptions Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Apply suggestions from code review Co-authored-by: Kyle Cesare <kcesare@gmail.com> - EMPTY_PATH_INDEX_VECTOR -> empty_path_index_vector - Update parameter yaml - Make param listener unique - Fix build error

    * Use gt_eq instead of deprecated lower_bounds ---------Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Kyle Cesare <kcesare@gmail.com>

  • fix for kinematic constraints parsing (#2267)

  • Contributors: Jorge Nicho, Mario Prats, Nacho Mellado, Sebastian Jahr, Stephanie Eng

2.7.4 (2023-05-18)

  • Add documentation and cleanups for PlanningRequestAdapter and PlanningRequestAdapterChain classes (#2142)
    • Cleanups
    • Add documentation and more cleanups
    • Revert size_t change
  • Fix collision checking in VisibilityConstraint (#1986)
  • Alphabetize, smart pointer not needed (#2148)
    • Alphabetize, smart pointer not needed
    • Readability
  • Fix getting variable bounds in mimic joints for TOTG (#2030)

    • Fix getting variable bounds in mimic joints for TOTG
    • Formatting
    • Remove unnecessary code
    • Do not include mimic joints in timing calculations
    • Change joint variable bounds at mimic creation time
    • Braces take you places
    • Fix other single-line if-else without braces in file for clang_tidy
    • Remove mimic bounds modification
    • Variable renaming and a comment

    * Fix index naming ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Joseph Schornak, Sebastian Castro, Sebastian Jahr

2.7.3 (2023-04-24)

2.7.2 (2023-04-18)

  • Add JointModel::satisfiesAccelerationBounds() (#2092)

    • Add JointModel::satisfiesAccelerationBounds()
    • Check Jerk bounds too

    * Check if bounds exist ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • A ROS param for Servo filter coefficient (#2091)

    • Add generate_parameter_library as dependency
    • Generate and export parameter target
    • Update butterworth filter to use params
    • Move param listener declaration to header
    • Formatting
    • Remove unnecessary rclcpp include
    • Fix alphabetical order
    • Make param listener local
    • Fix target exporting in cmake
    • Add moveit_ prefix to parameter library target
    • Remove obsolete comment
    • Member variable naming

    * Alphabetize ---------Co-authored-by: AndyZe <andyz@utexas.edu>

  • Merge pull request #1900 from Abishalini/pr-sync-1245f15 Sync with MoveIt1

  • Readd comment and assign error code

  • Merge https://github.com/ros-planning/moveit/commit/1245f151393fe09023efec3e1faead2d26737227

  • Add test and debug issue where TOTG returns accels > limit (#2084)

  • Move stateless PlanningScene helper functions out of the class (#2025)

  • Document how collision checking includes descendent links (#2058)

  • Optionally mitigate Ruckig overshoot (#2051)

    • Optionally mitigate Ruckig overshoot
    • Cleanup
  • Delete the Ruckig \"batches\" option, deprecated by #1990 (#2028)

  • Merge PR #3197: Improve computeCartesianPath()

  • Gracefully handle gtest 1.8 (Melodic) gtest 1.8 doesn\'t provide SetUpTestSuite(). Thus, we cannot share the RobotModel across tests.

  • Add unit tests for computeCartesianPath()

  • Add utils to simplify (approximate) equality checks for Eigen entities

  • robot_model_test_utils: Add loadIKPluginForGroup()

  • Simplify test_cartesian_interpolator.cpp

  • Generalize computeCartesianPath() to consider a link_offset This allows performing a circular motion about a non-link origin.

  • Cleanup CartesianInterpolator

    • Fixup doc comments
    • Add API providing the translation vector = direction * distance
    • Simplify implementation
  • Contributors: Abishalini, Abishalini Sivaraman, AndyZe, Robert Haschke, V Mohammed Ibrahim

2.7.1 (2023-03-23)

  • Ruckig-smoothing : reduce number of duration extensions (#1990)

    • extend duration only for failed segment
    • update comment
    • Remove trajectory reset before extension
    • readability improvement

    * Remove call to RobotState update ---------Co-authored-by: ibrahiminfinite <> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Fix mimic joints with TOTG (#1989)

  • changed C style cast to C++ style cast for void type (#2010) (void) -> static_cast<void>

  • Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Fix Ruckig termination condition (#1963)

  • Fix ci-testing build issues (#1998)

  • Fix invalid case style for private member in RobotTrajectory

  • Fix unreachable child logger instance

  • Document the Butterworth filter better (#1961)

  • Merge pull request #1546 from peterdavidfagan/moveit_py Python Bindings - moveit_py

  • remove old python bindings

  • remove underscore from public member in MotionPlanResponse (#1939)

    • remove underscore from private members
    • fix more uses of the suffix notation
  • Contributors: AlexWebb, AndyZe, Henning Kayser, Jafar, Robert Haschke, Sebastian Castro, Shobuj Paul, V Mohammed Ibrahim, peterdavidfagan

2.7.0 (2023-01-29)

  • Merge PR #1712: fix clang compiler warnings + stricter CI
  • Don\'t use ament_export_targets from package sub folder (#1889)
  • kinematic_constraints: update header frames (#1890)
  • Install collision_detector_bullet_plugin from moveit_core
  • Sort exports from moveit_core
  • Clean up kinematic_constraints/utils, add update functions (#1875)
  • Merge https://github.com/ros-planning/moveit/commit/9225971216885490e933ece25390c63ca14f8a58
  • converted characters from string format to character format (#1881)
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Add velocity and acceleration scaling when using custom limits in Time Parameterization (#1832)

    • add velocity and accelerations scaling when using custom limits for time parameterization
    • add scaling when passing in vecotor of joint-limits
    • add function descriptions
    • add verifyScalingFactor helper function
    • make map const
    • address feedback

    * add comment Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>

  • 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 GoogleTestVerification.UninstantiatedTypeParameterizedTestSuite

  • Modernize gtest: TYPED_TEST_CASE -> TYPED_TEST_SUITE

  • Fix warning: expression with side effects will be evaluated

  • Fix warning: definition of implicit copy assignment operator is deprecated

  • Cleanup msg includes: Use C++ instead of C header (#1844)

  • Fix trajectory unwind bug (#1772)

    • ensure trajectory starting point\'s position is enforced
    • fix angle jump bug
    • handle bounds enforcement edge case
    • clang tidy
    • Minor renaming, better comment, use .at() over []
    • First shot at a unit test
    • fix other unwind bugs
    • test should succeed now
    • unwind test needs a model with a continuous joint
    • clang tidy
    • add test for unwinding from wound up robot state
    • clang tidy

    * tweak test for special case to show that it will fail without these changes Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Require velocity and acceleration limits in TOTG (#1794)

    • Require vel/accel limits for TOTG

    * Comment improvements Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Use adjustable waypoint batch sizes for Ruckig (#1719)

    • Use adjustable waypoint batch sizes for Ruckig
    • Use std::optional for return value
    • Cleanup
    • Add comment about parameterizing
    • Fix potential segfault
    • Batch size argument
    • Use append()

    * Revert \"Use append()\" This reverts commit 96b86a6c783b05ba57e5a6a20bf901cd92ab74d7.

  • Fix moveit_core dependency on tf2_kdl (#1817) This is a proper dependency, and not only a test dependency. It is still needed when building moveit_core with -DBUILD_TESTING=OFF.

  • Bug fix: RobotTrajectory append() (#1813)

    • Add a test for append()
    • Don\'t add to the timestep, rather overwrite it
  • Print a warning from TOTG if the robot model mixes revolute/prismatic joints (#1799)

  • Tiny optimizations in enforcePositionBounds() for RevoluteJointModel (#1803)

  • Better TOTG comments (#1779) * Increase understanding of TOTG path_tolerance_ Tiny readability optimization - makes it a little easier for people to figure out what [path_tolerance_]{.title-ref} does

    • Update the units of path_tolerance_
    • Comment all 3 versions of computeTimeStamps
    • Add param for num_waypoints

    * More clarity on units Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Nathan Brooks <nathan.brooks@picknik.ai>

  • Fix BSD license in package.xml (#1796)

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • Remove unnecessary CMake variables and lists (#1790)

  • Stopping calling MoveIt an alpha-stage project (#1789)

  • Ensure all headers get installed within moveit_core directory (#1786)

  • Set the resample_dt_ member of TOTG back to const (#1776)

    • Set the resample_dt_ member of TOTG back to const

    * Remove unused TOTG instance in test Co-authored-by: Henning Kayser <henningkayser@picknik.ai> * Add \"totg\" to function name Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove Iterative Spline and Iterative Parabola time-param algorithms (v2) (#1780)

    • Iterative parabolic parameterization fails for nonzero initial/final conditions
    • Iterative spline parameterization fails, too
    • Delete Iterative Spline & Iterative Parabola algorithms
  • Use [target_include_directories]{.title-ref} (#1785)

  • Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.

  • Enable [-Wold-style-cast]{.title-ref} (#1770)

  • Add a version of TOTG computeTimeStamps() for a fixed num waypoints (#1771)

    • Add a version of computeTimeStamps() to yield a fixed num. waypoints
    • Add unit test
    • Prevent an ambiguous function signature
    • Remove debugging stuff
    • Can\'t have fewer than 2 waypoints
    • Warning about sparse waypoint spacing
    • Doxygen comments
    • Clarify about changing the shape of the path

    * Better comment Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Add [-Wunused-function]{.title-ref} (#1754)

  • Remove [MOVEIT_LIB_NAME]{.title-ref} (#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>

  • 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]{.title-ref} 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_.

  • Small optimization in constructGoalConstraints() (#1707)

    • Small optimization in constructGoalConstraints()

    * Quat defaults to unity Co-authored-by: Henning Kayser <henningkayser@picknik.ai> 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>

  • Generate version.h with git branch and commit hash (#2793)

    • Generate version.h on every build and include git hash and branch/tag name
    • Don\'t generate \"alpha\" postfix on buildfarm
    • Show git version via moveit_version

    * Change version postfix: alpha -> devel Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

  • Contributors: Abhijeet Das Gupta, Abishalini, AndyZe, Captain Yoshi, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Nathan Brooks, Robert Haschke, Sameer Gupta, Scott K Logan, Tyler Weaver

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>

  • Parallel planning pipelines (#1420)

    • Add setTrajectoryConstraints() to PlanningComponent
    • Add planning time to PlanningComponent::PlanSolution
    • Replace PlanSolution with MotionPlanResponse
    • Address review

    * Add MultiPipelinePlanRequestParameters Add plan(const MultiPipelinePlanRequestParameters& parameters) Add mutex to avoid segfaults Add optional stop_criterion_callback and solution_selection_callback Remove stop_criterion_callback Make default solution_selection_callback = nullptr Remove parameter handling copy&paste code in favor of a template Add TODO to refactor pushBack() method into insert() Fix selection criteria and add RCLCPP_INFO output Changes due to rebase and formatting Fix race condition and segfault when no solution is found Satisfy clang tidy Remove mutex and thread safety TODOs Add stopping functionality to parallel planning Remove unnecessary TODOs - Fix unused plan solution with failure - Add sanity check for number of parallel planning problems - Check stopping criterion when new solution is generated + make thread safe - Add terminatePlanningPipeline() to MoveItCpp interface - Format! - Bug fixes - Move getShortestSolution callback into own function - No east const - Remove PlanSolutions and make planner_id accessible - Make solution executable - Rename update_last_solution to store_solution - Alphabetize includes and include plan_solutions.hpp instead of .h - Address review - Add missing header

    * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Deprecate lookupParam function (#1681)

  • Add new error types (moveit_msgs #146) (#1683)

    • Add new error types (moveit_msgs #146)
    • Add default case

    * Small change to the default case Co-authored-by: Tyler Weaver <maybe@tylerjw.dev> Co-authored-by: Tyler Weaver <maybe@tylerjw.dev>

  • Planning request adapters: short-circuit if failure, return code rather than bool (#1605)

    • Return code rather than bool
    • Remove all debug prints
    • Small fixup
    • Minor cleanup of comment and error handling
    • void return from PlannerFn
    • Control reaches end of non-void function
    • Use a MoveItErrorCode cast
    • More efficient callAdapter()
    • More MoveItErrorCode
    • CI fixup attempt
  • Improve Cartesian interpolation (#1547) * Generalize computeCartesianPath() to consider a link_offset which allows performing a circular motion about a non-link origin. * Augment reference to argument global_reference_frame Co-authored-by: AndyZe <andyz@utexas.edu>

  • Remove unused clock from RobotTrajectory (#1639)

  • Added brace intialization in moveit_core/collision_detection_fcl & moveit_core/collision_detection_field (#1622)

  • added brace intialization (#1615)

  • Merge PR #1553: Improve cmake files

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

  • moveit_core/collision_detection: fix include order moveit_planning_scene\'s include directories have to be appended to the include directories found by ament_target_dependencies().

  • Add missing srdfdom dependency

  • Improve CMake usage (#1550)

  • size_t bijection index type (#1544)

  • Free functions for calculating properties of trajectories (#1503) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Const ptr to jmg arg for cost function (#1537)

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

  • Add error_code_to_string function (#1523)

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

  • Unified code comment style (#1053) * Changes the comment style from /**/ to // Co-authored-by: JafarAbdi <cafer.abdi@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove sensor manager (#1172)

  • Fixed fabs() use in quaternion interpolation (#1479)

    • Interpolate using Eigen::Quaternion::slerp() to (hopefully) save us further headaches and take advantage of Eigen probably having a better implementation than us.

    * Created a test case that fails for the old version, but passes for the new. Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Fixes for using generate_state_database (#1412)

  • fix path to constraints parameters

  • Remove __has_include statements (#1481)

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

  • Remove ConstraintSampler::project() (#3170) * Remove unused ompl_interface::ValidConstrainedSampler Last usage was removed in f2f6097ab7e272568d6ab258a53be3c7ca67cf3b. * Remove ConstraintSampler::project() sample() and project() only differ in whether they perform random sampling of the reference joint pose or not. Both of them are sampling. This was highly confusing, as from project() one wouldn\'t expect sampling.

  • 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: Abhijeet Das Gupta, Abishalini Sivaraman, Alaa, AndyZe, Henning Kayser, J. Javan, Michael Marron, Robert Haschke, Sebastian Jahr, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel, werner291

2.5.3 (2022-07-28)

  • Constraint samplers seed (#1411)
  • Contributors: Henry Moore

2.5.2 (2022-07-18)

  • Added const to moveit_core/collision_detection per issue 879 (#1416)
  • Add generic cost function to KinematicsBase, CartesianInterpolator, and RobotState (#1386)
  • Merge pull request #1402 from Abishalini/pr-sync-a436a97 Sync with MoveIt
  • Merge https://github.com/ros-planning/moveit/commit/a436a9771f7445c162cc3090c4c7c57bdb5bf194
  • Merge https://github.com/ros-planning/moveit/commit/c88f6fb64e9057a4b9a8f6fafc01060e8c48a216
  • Merge remote-tracking branch \'origin/main\' into feature/msa
  • Removing more boost usage (#1372)
  • Fix PlanarJointModel::satisfiesPositionBounds (#1353) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • Type safety for CartesianInterpolator (#1325)
  • 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)
  • Fix PlanarJointModel::satisfiesPositionBounds (#3160)
  • Port OMPL orientation constraints to MoveIt2 (#1273) Co-authored-by: JeroenDM <jeroendemaeyer@live.be> Co-authored-by: AndyZe <andyz@utexas.edu>
  • Switch to hpp headers of pluginlib
  • Adds another test case to #3124 and adds some further minor improvements to the original PR (#3142)
  • Fix bug in applying planning scene diffs that have attached collision objects (#3124) Co-authored-by: AndyZe <andyz@utexas.edu>
  • Fix flaky constraint sampler test (#3135)
  • Constraint samplers with seed (#3112) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
  • Fix clang-tidy warning (#3129)
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • Fix clang-tidy
  • using namespace collision_detection
  • banish bind()
  • various: prefer objects and references over pointers
  • Migrate PRA internals to lambdas
  • drop unused arguments not needed for lambda binding
  • simplify distance field method binding
  • Fix null pointer access to CollisionEnvObject in PlanningScene (#3104)
  • Contributors: Abishalini, Bilal Gill, David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

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Package Summary

Tags No category tags.
Version 2.9.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2024-02-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt

Additional Links

Maintainers

  • Henning Kayser
  • Tyler Weaver
  • Michael Görner
  • MoveIt Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley
  • Dave Coleman

MoveIt Core

This repository includes core libraries used by MoveIt: - representation of kinematic models - collision detection interfaces and implementations - interfaces for kinematic solver plugins - interfaces for motion planning plugins - interfaces for controllers and sensors

These libraries do not depend on ROS (except ROS messages) and can be used independently.

CHANGELOG

Changelog for package moveit_core

2.9.0 (2024-01-09)

  • (core) Remove all references to python wrapper from the core pkg (#2623)
    • (core) remove commented python wrapper code
    • (core) remove dep on pybind11_vendor
  • Add missing pluginlib dependency (#2641)
  • make time_optimal_trajectory_generation harder to misuse (#2624)
    • make time_optimal_trajectory_generation harder to misuse
    • style fixes
    • more style fixes
    • more style fixes
    • address PR comments
  • Add collision_detection dependency on pluginlib (#2638) It is included by src/collision_plugin_cache.cpp, so it should be set as a dependency.
  • reset accelerations on setToDefaultValues (#2618)
  • fix out-of-bounds memory access with zero-variable joints (#2617)
  • Node logging for the rest of MoveIt (#2599)
  • Sync Ruckig with MoveIt1 (#2596)
    • Debug Ruckig tests (MoveIt1 3300)
    • Add a test, termination condition bugfix (MoveIt1 3348)
    • Mitigate Ruckig overshoot (MoveIt1 3376)
    • Small variable fixup
  • Add missing header (#2592)
  • Depend on [rsl::rsl]{.title-ref} as a non-Ament dependency (#2578)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Pass more distance information out from FCL collision check (#2572)

    • Pass more distance information out from FCL collision check

    * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Node logging in moveit_core (#2503)

  • Benchmark robot state (#2546)

    • simplify memory management in RobotState
    • further changes
    • avoid pointer arithmetic where possible
    • fix memory access issue on root joint with 0 variables
    • fix vector size
    • remove unused header
  • Remember original color of objects in planning scene (#2549)

  • Allow editing allowed collision matrix in python + fix get_entry function (#2551) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Fix angular distance calculation in floating joint model (#2538)

  • Add a benchmark for RobotTrajectory creation and timing. (#2530)

  • Consolidate RobotState benchmarks in single file (#2528)

    • Consolidate RobotState benchmarks in single file
    • some cosmetics
    • style fixes
    • additional comments
  • add rsl depend to moveit_core (#2532)

    • This should fix #2516
    • Several moveit2 packages already depend on rsl

    - PR #2482 added a depend in moveit_core This is only broken when building all of moveit2 deps in one colcon workspace And not using rosdep because colcon uses the package.xml and rsl might not have been built

  • Avoid calling static node\'s destructor. (#2513)

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

  • Use node logging in moveit_ros (#2482)

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

  • Use default initializers in collision_common.h (#2475)

  • Node logger through singleton (warehouse) (#2445) Co-authored-by: Abishalini Sivaraman <abi.gpuram@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Smoothing plugin API update and bug fix (#2470)

    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <andyz@utexas.edu> - Link against Eigen, not tf2_eigen - Don\'t resize every time - Don\'t reset the smoother_ every time - Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <ibrahimjkd@gmail.com> Co-authored-by: V Mohammed Ibrahim <12377945+ibrahiminfinite@users.noreply.github.com>

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

  • Fix typo in bullet function name (#2472)

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

  • Port #3464 from MoveIt1 (#2456) * Port unit test cherry-pick of https://github.com/ros-planning/moveit/pull/3464 * Increment added_path_index in callAdapter Doesn\'t work because previous=0 for all recursively called functions. * Pass individual add_path_index vectors to callAdapter ---------Co-authored-by: Hugal31 <hla@lescompanions.com>

  • [Python] Add RetimeTrajectory to RobotTrajectory (#2411)

    • [Python] Add RetimeTrajectory to RobotTrajectory

    * Split retime trajecotry in multiple functions Moved logic to trajectory_tools Added Docstrings * Removed retime function from python binding ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Use find_package for fcl (#2399)

  • Remove old deprecated functions (#2384)

  • Make getJacobian simpler and faster (#2389)

    • Make getJacobian simpler and faster
    • readability and const-correctness
    • fix issue when joint group is not at URDF origin
    • Update moveit_core/robot_state/src/robot_state.cpp
  • Add RobotState::getJacobian() tests (#2375)

  • Compare MoveIt! Jacobian against KDL (#2377)

  • Update clang-format-14 with QualifierAlignment (#2362)

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Converts float to double (#2343) * Limiting the scope of variables #874 Limited the scope of variables in moveit_core/collision_detection * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu>

    • convert float to double
    • change double to float
    • Feedback fixes
    • Introduced variables removed from previous merge commit
    • Updated GL_Renderer function definitions with double instead of float
    • Changed update() function arguments to float since it is a derived virtual function and needs to be overriden
    • Fixed all override errors in visualization

    * *Fixed override errors in perception*Changed reinterpret_cast to double* from float* - change variable types to fit function definition - Fixed clang-tidy warnings

    * Fixed scope of reusable variables ---------Co-authored-by: Salah Soliman <salahsoliman96@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Alex Moriarty, AndyZe, Chris Lalancette, Chris Thrasher, Jens Vanhooydonck, Mario Prats, Marq Rasmussen, Matthijs van der Burgh, Nacho Mellado, Rayene Messaoud, Robert Haschke, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Stephanie Eng, Tyler Weaver

2.8.0 (2023-09-10)

  • Add a benchmark for \'getJacobian\' (#2326)
  • [TOTG] Exit loop when position can\'t change (#2307)
  • Remove added path index from planner adapter function signature (#2285)
  • Fix typo in error message (#2286)
  • Fix comment formatting (#2276)
  • Cleanup planning request adapter interface (#2266)

    • Use default arguments instead of additional functions
    • Use generate param lib for default plan request adapters
    • Small cleanup of ResolveConstraintFrames
    • Remove dublicate yaml file entry
    • Move list_planning_adapter_plugins into own directory

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> - Fix copy& paste error

    * Update parameter descriptions Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Apply suggestions from code review Co-authored-by: Kyle Cesare <kcesare@gmail.com> - EMPTY_PATH_INDEX_VECTOR -> empty_path_index_vector - Update parameter yaml - Make param listener unique - Fix build error

    * Use gt_eq instead of deprecated lower_bounds ---------Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Kyle Cesare <kcesare@gmail.com>

  • fix for kinematic constraints parsing (#2267)

  • Contributors: Jorge Nicho, Mario Prats, Nacho Mellado, Sebastian Jahr, Stephanie Eng

2.7.4 (2023-05-18)

  • Add documentation and cleanups for PlanningRequestAdapter and PlanningRequestAdapterChain classes (#2142)
    • Cleanups
    • Add documentation and more cleanups
    • Revert size_t change
  • Fix collision checking in VisibilityConstraint (#1986)
  • Alphabetize, smart pointer not needed (#2148)
    • Alphabetize, smart pointer not needed
    • Readability
  • Fix getting variable bounds in mimic joints for TOTG (#2030)

    • Fix getting variable bounds in mimic joints for TOTG
    • Formatting
    • Remove unnecessary code
    • Do not include mimic joints in timing calculations
    • Change joint variable bounds at mimic creation time
    • Braces take you places
    • Fix other single-line if-else without braces in file for clang_tidy
    • Remove mimic bounds modification
    • Variable renaming and a comment

    * Fix index naming ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Joseph Schornak, Sebastian Castro, Sebastian Jahr

2.7.3 (2023-04-24)

2.7.2 (2023-04-18)

  • Add JointModel::satisfiesAccelerationBounds() (#2092)

    • Add JointModel::satisfiesAccelerationBounds()
    • Check Jerk bounds too

    * Check if bounds exist ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • A ROS param for Servo filter coefficient (#2091)

    • Add generate_parameter_library as dependency
    • Generate and export parameter target
    • Update butterworth filter to use params
    • Move param listener declaration to header
    • Formatting
    • Remove unnecessary rclcpp include
    • Fix alphabetical order
    • Make param listener local
    • Fix target exporting in cmake
    • Add moveit_ prefix to parameter library target
    • Remove obsolete comment
    • Member variable naming

    * Alphabetize ---------Co-authored-by: AndyZe <andyz@utexas.edu>

  • Merge pull request #1900 from Abishalini/pr-sync-1245f15 Sync with MoveIt1

  • Readd comment and assign error code

  • Merge https://github.com/ros-planning/moveit/commit/1245f151393fe09023efec3e1faead2d26737227

  • Add test and debug issue where TOTG returns accels > limit (#2084)

  • Move stateless PlanningScene helper functions out of the class (#2025)

  • Document how collision checking includes descendent links (#2058)

  • Optionally mitigate Ruckig overshoot (#2051)

    • Optionally mitigate Ruckig overshoot
    • Cleanup
  • Delete the Ruckig \"batches\" option, deprecated by #1990 (#2028)

  • Merge PR #3197: Improve computeCartesianPath()

  • Gracefully handle gtest 1.8 (Melodic) gtest 1.8 doesn\'t provide SetUpTestSuite(). Thus, we cannot share the RobotModel across tests.

  • Add unit tests for computeCartesianPath()

  • Add utils to simplify (approximate) equality checks for Eigen entities

  • robot_model_test_utils: Add loadIKPluginForGroup()

  • Simplify test_cartesian_interpolator.cpp

  • Generalize computeCartesianPath() to consider a link_offset This allows performing a circular motion about a non-link origin.

  • Cleanup CartesianInterpolator

    • Fixup doc comments
    • Add API providing the translation vector = direction * distance
    • Simplify implementation
  • Contributors: Abishalini, Abishalini Sivaraman, AndyZe, Robert Haschke, V Mohammed Ibrahim

2.7.1 (2023-03-23)

  • Ruckig-smoothing : reduce number of duration extensions (#1990)

    • extend duration only for failed segment
    • update comment
    • Remove trajectory reset before extension
    • readability improvement

    * Remove call to RobotState update ---------Co-authored-by: ibrahiminfinite <> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Fix mimic joints with TOTG (#1989)

  • changed C style cast to C++ style cast for void type (#2010) (void) -> static_cast<void>

  • Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Fix Ruckig termination condition (#1963)

  • Fix ci-testing build issues (#1998)

  • Fix invalid case style for private member in RobotTrajectory

  • Fix unreachable child logger instance

  • Document the Butterworth filter better (#1961)

  • Merge pull request #1546 from peterdavidfagan/moveit_py Python Bindings - moveit_py

  • remove old python bindings

  • remove underscore from public member in MotionPlanResponse (#1939)

    • remove underscore from private members
    • fix more uses of the suffix notation
  • Contributors: AlexWebb, AndyZe, Henning Kayser, Jafar, Robert Haschke, Sebastian Castro, Shobuj Paul, V Mohammed Ibrahim, peterdavidfagan

2.7.0 (2023-01-29)

  • Merge PR #1712: fix clang compiler warnings + stricter CI
  • Don\'t use ament_export_targets from package sub folder (#1889)
  • kinematic_constraints: update header frames (#1890)
  • Install collision_detector_bullet_plugin from moveit_core
  • Sort exports from moveit_core
  • Clean up kinematic_constraints/utils, add update functions (#1875)
  • Merge https://github.com/ros-planning/moveit/commit/9225971216885490e933ece25390c63ca14f8a58
  • converted characters from string format to character format (#1881)
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Add velocity and acceleration scaling when using custom limits in Time Parameterization (#1832)

    • add velocity and accelerations scaling when using custom limits for time parameterization
    • add scaling when passing in vecotor of joint-limits
    • add function descriptions
    • add verifyScalingFactor helper function
    • make map const
    • address feedback

    * add comment Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>

  • 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 GoogleTestVerification.UninstantiatedTypeParameterizedTestSuite

  • Modernize gtest: TYPED_TEST_CASE -> TYPED_TEST_SUITE

  • Fix warning: expression with side effects will be evaluated

  • Fix warning: definition of implicit copy assignment operator is deprecated

  • Cleanup msg includes: Use C++ instead of C header (#1844)

  • Fix trajectory unwind bug (#1772)

    • ensure trajectory starting point\'s position is enforced
    • fix angle jump bug
    • handle bounds enforcement edge case
    • clang tidy
    • Minor renaming, better comment, use .at() over []
    • First shot at a unit test
    • fix other unwind bugs
    • test should succeed now
    • unwind test needs a model with a continuous joint
    • clang tidy
    • add test for unwinding from wound up robot state
    • clang tidy

    * tweak test for special case to show that it will fail without these changes Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Require velocity and acceleration limits in TOTG (#1794)

    • Require vel/accel limits for TOTG

    * Comment improvements Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Use adjustable waypoint batch sizes for Ruckig (#1719)

    • Use adjustable waypoint batch sizes for Ruckig
    • Use std::optional for return value
    • Cleanup
    • Add comment about parameterizing
    • Fix potential segfault
    • Batch size argument
    • Use append()

    * Revert \"Use append()\" This reverts commit 96b86a6c783b05ba57e5a6a20bf901cd92ab74d7.

  • Fix moveit_core dependency on tf2_kdl (#1817) This is a proper dependency, and not only a test dependency. It is still needed when building moveit_core with -DBUILD_TESTING=OFF.

  • Bug fix: RobotTrajectory append() (#1813)

    • Add a test for append()
    • Don\'t add to the timestep, rather overwrite it
  • Print a warning from TOTG if the robot model mixes revolute/prismatic joints (#1799)

  • Tiny optimizations in enforcePositionBounds() for RevoluteJointModel (#1803)

  • Better TOTG comments (#1779) * Increase understanding of TOTG path_tolerance_ Tiny readability optimization - makes it a little easier for people to figure out what [path_tolerance_]{.title-ref} does

    • Update the units of path_tolerance_
    • Comment all 3 versions of computeTimeStamps
    • Add param for num_waypoints

    * More clarity on units Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Nathan Brooks <nathan.brooks@picknik.ai>

  • Fix BSD license in package.xml (#1796)

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • Remove unnecessary CMake variables and lists (#1790)

  • Stopping calling MoveIt an alpha-stage project (#1789)

  • Ensure all headers get installed within moveit_core directory (#1786)

  • Set the resample_dt_ member of TOTG back to const (#1776)

    • Set the resample_dt_ member of TOTG back to const

    * Remove unused TOTG instance in test Co-authored-by: Henning Kayser <henningkayser@picknik.ai> * Add \"totg\" to function name Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove Iterative Spline and Iterative Parabola time-param algorithms (v2) (#1780)

    • Iterative parabolic parameterization fails for nonzero initial/final conditions
    • Iterative spline parameterization fails, too
    • Delete Iterative Spline & Iterative Parabola algorithms
  • Use [target_include_directories]{.title-ref} (#1785)

  • Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.

  • Enable [-Wold-style-cast]{.title-ref} (#1770)

  • Add a version of TOTG computeTimeStamps() for a fixed num waypoints (#1771)

    • Add a version of computeTimeStamps() to yield a fixed num. waypoints
    • Add unit test
    • Prevent an ambiguous function signature
    • Remove debugging stuff
    • Can\'t have fewer than 2 waypoints
    • Warning about sparse waypoint spacing
    • Doxygen comments
    • Clarify about changing the shape of the path

    * Better comment Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Add [-Wunused-function]{.title-ref} (#1754)

  • Remove [MOVEIT_LIB_NAME]{.title-ref} (#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>

  • 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]{.title-ref} 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_.

  • Small optimization in constructGoalConstraints() (#1707)

    • Small optimization in constructGoalConstraints()

    * Quat defaults to unity Co-authored-by: Henning Kayser <henningkayser@picknik.ai> 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>

  • Generate version.h with git branch and commit hash (#2793)

    • Generate version.h on every build and include git hash and branch/tag name
    • Don\'t generate \"alpha\" postfix on buildfarm
    • Show git version via moveit_version

    * Change version postfix: alpha -> devel Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

  • Contributors: Abhijeet Das Gupta, Abishalini, AndyZe, Captain Yoshi, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Nathan Brooks, Robert Haschke, Sameer Gupta, Scott K Logan, Tyler Weaver

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>

  • Parallel planning pipelines (#1420)

    • Add setTrajectoryConstraints() to PlanningComponent
    • Add planning time to PlanningComponent::PlanSolution
    • Replace PlanSolution with MotionPlanResponse
    • Address review

    * Add MultiPipelinePlanRequestParameters Add plan(const MultiPipelinePlanRequestParameters& parameters) Add mutex to avoid segfaults Add optional stop_criterion_callback and solution_selection_callback Remove stop_criterion_callback Make default solution_selection_callback = nullptr Remove parameter handling copy&paste code in favor of a template Add TODO to refactor pushBack() method into insert() Fix selection criteria and add RCLCPP_INFO output Changes due to rebase and formatting Fix race condition and segfault when no solution is found Satisfy clang tidy Remove mutex and thread safety TODOs Add stopping functionality to parallel planning Remove unnecessary TODOs - Fix unused plan solution with failure - Add sanity check for number of parallel planning problems - Check stopping criterion when new solution is generated + make thread safe - Add terminatePlanningPipeline() to MoveItCpp interface - Format! - Bug fixes - Move getShortestSolution callback into own function - No east const - Remove PlanSolutions and make planner_id accessible - Make solution executable - Rename update_last_solution to store_solution - Alphabetize includes and include plan_solutions.hpp instead of .h - Address review - Add missing header

    * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Deprecate lookupParam function (#1681)

  • Add new error types (moveit_msgs #146) (#1683)

    • Add new error types (moveit_msgs #146)
    • Add default case

    * Small change to the default case Co-authored-by: Tyler Weaver <maybe@tylerjw.dev> Co-authored-by: Tyler Weaver <maybe@tylerjw.dev>

  • Planning request adapters: short-circuit if failure, return code rather than bool (#1605)

    • Return code rather than bool
    • Remove all debug prints
    • Small fixup
    • Minor cleanup of comment and error handling
    • void return from PlannerFn
    • Control reaches end of non-void function
    • Use a MoveItErrorCode cast
    • More efficient callAdapter()
    • More MoveItErrorCode
    • CI fixup attempt
  • Improve Cartesian interpolation (#1547) * Generalize computeCartesianPath() to consider a link_offset which allows performing a circular motion about a non-link origin. * Augment reference to argument global_reference_frame Co-authored-by: AndyZe <andyz@utexas.edu>

  • Remove unused clock from RobotTrajectory (#1639)

  • Added brace intialization in moveit_core/collision_detection_fcl & moveit_core/collision_detection_field (#1622)

  • added brace intialization (#1615)

  • Merge PR #1553: Improve cmake files

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

  • moveit_core/collision_detection: fix include order moveit_planning_scene\'s include directories have to be appended to the include directories found by ament_target_dependencies().

  • Add missing srdfdom dependency

  • Improve CMake usage (#1550)

  • size_t bijection index type (#1544)

  • Free functions for calculating properties of trajectories (#1503) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Const ptr to jmg arg for cost function (#1537)

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

  • Add error_code_to_string function (#1523)

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

  • Unified code comment style (#1053) * Changes the comment style from /**/ to // Co-authored-by: JafarAbdi <cafer.abdi@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove sensor manager (#1172)

  • Fixed fabs() use in quaternion interpolation (#1479)

    • Interpolate using Eigen::Quaternion::slerp() to (hopefully) save us further headaches and take advantage of Eigen probably having a better implementation than us.

    * Created a test case that fails for the old version, but passes for the new. Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Fixes for using generate_state_database (#1412)

  • fix path to constraints parameters

  • Remove __has_include statements (#1481)

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

  • Remove ConstraintSampler::project() (#3170) * Remove unused ompl_interface::ValidConstrainedSampler Last usage was removed in f2f6097ab7e272568d6ab258a53be3c7ca67cf3b. * Remove ConstraintSampler::project() sample() and project() only differ in whether they perform random sampling of the reference joint pose or not. Both of them are sampling. This was highly confusing, as from project() one wouldn\'t expect sampling.

  • 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: Abhijeet Das Gupta, Abishalini Sivaraman, Alaa, AndyZe, Henning Kayser, J. Javan, Michael Marron, Robert Haschke, Sebastian Jahr, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel, werner291

2.5.3 (2022-07-28)

  • Constraint samplers seed (#1411)
  • Contributors: Henry Moore

2.5.2 (2022-07-18)

  • Added const to moveit_core/collision_detection per issue 879 (#1416)
  • Add generic cost function to KinematicsBase, CartesianInterpolator, and RobotState (#1386)
  • Merge pull request #1402 from Abishalini/pr-sync-a436a97 Sync with MoveIt
  • Merge https://github.com/ros-planning/moveit/commit/a436a9771f7445c162cc3090c4c7c57bdb5bf194
  • Merge https://github.com/ros-planning/moveit/commit/c88f6fb64e9057a4b9a8f6fafc01060e8c48a216
  • Merge remote-tracking branch \'origin/main\' into feature/msa
  • Removing more boost usage (#1372)
  • Fix PlanarJointModel::satisfiesPositionBounds (#1353) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • Type safety for CartesianInterpolator (#1325)
  • 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)
  • Fix PlanarJointModel::satisfiesPositionBounds (#3160)
  • Port OMPL orientation constraints to MoveIt2 (#1273) Co-authored-by: JeroenDM <jeroendemaeyer@live.be> Co-authored-by: AndyZe <andyz@utexas.edu>
  • Switch to hpp headers of pluginlib
  • Adds another test case to #3124 and adds some further minor improvements to the original PR (#3142)
  • Fix bug in applying planning scene diffs that have attached collision objects (#3124) Co-authored-by: AndyZe <andyz@utexas.edu>
  • Fix flaky constraint sampler test (#3135)
  • Constraint samplers with seed (#3112) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
  • Fix clang-tidy warning (#3129)
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • Fix clang-tidy
  • using namespace collision_detection
  • banish bind()
  • various: prefer objects and references over pointers
  • Migrate PRA internals to lambdas
  • drop unused arguments not needed for lambda binding
  • simplify distance field method binding
  • Fix null pointer access to CollisionEnvObject in PlanningScene (#3104)
  • Contributors: Abishalini, Bilal Gill, David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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Dependant Packages

Name Repo Deps
moveit github-ros-planning-moveit2
moveit_kinematics github-ros-planning-moveit2
moveit_planners_chomp github-ros-planning-moveit2
chomp_motion_planner github-ros-planning-moveit2
moveit_planners_ompl github-ros-planning-moveit2
pilz_industrial_motion_planner github-ros-planning-moveit2
pilz_industrial_motion_planner_testutils github-ros-planning-moveit2
moveit_planners_stomp github-ros-planning-moveit2
moveit_resources_prbt_ikfast_manipulator_plugin github-ros-planning-moveit2
moveit_ros_control_interface github-ros-planning-moveit2
moveit_simple_controller_manager github-ros-planning-moveit2
moveit_py github-ros-planning-moveit2
moveit_ros_benchmarks github-ros-planning-moveit2
moveit_hybrid_planning github-ros-planning-moveit2
moveit_ros_move_group github-ros-planning-moveit2
moveit_servo github-ros-planning-moveit2
moveit_ros_occupancy_map_monitor github-ros-planning-moveit2
moveit_ros_perception github-ros-planning-moveit2
moveit_ros_planning github-ros-planning-moveit2
moveit_ros_planning_interface github-ros-planning-moveit2
moveit_ros_robot_interaction github-ros-planning-moveit2
moveit_ros_tests github-ros-planning-moveit2
moveit_ros_warehouse github-ros-planning-moveit2
moveit_runtime github-ros-planning-moveit2
moveit_setup_framework github-ros-planning-moveit2
moveit_visual_tools github-ros-planning-moveit_visual_tools
trac_ik_kinematics_plugin bitbucket-traclabs-trac_ik
reach_ros github-ros-industrial-reach_ros2
pick_ik github-PickNikRobotics-pick_ik

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Recent questions tagged moveit_core at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.1.13
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit.git
VCS Type git
VCS Version master
Last Updated 2024-02-26
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt

Additional Links

Maintainers

  • Dave Coleman
  • Michael Görner
  • Michael Ferguson
  • MoveIt Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley

MoveIt Core

This repository includes core libraries used by MoveIt: - representation of kinematic models - collision detection interfaces and implementations - interfaces for kinematic solver plugins - interfaces for motion planning plugins - interfaces for controllers and sensors

These libraries do not depend on ROS (except ROS messages) and can be used independently.

CHANGELOG

Changelog for package moveit_core

1.1.13 (2023-07-28)

  • Avoid global transforms in getRigidlyConnectedParentLinkModel() (#3470)
    • RobotState::setFromIK: ensure up-to-date state before calling IK solver
    • Remove unimplemented RobotState::getSubframeTransformInLinkFrame()
  • Add missing include (#3451)
  • Fix Jacobian calculation for planar joint (#3439)
  • Silent \"empty quaternion\" warning from poseMsgToEigen() (#3435)
  • Contributors: Cong Liu, Ivo Vatavuk, Robert Haschke

1.1.12 (2023-05-13)

  • Generalize RobotState::setFromIK() (https://github.com/ros-planning/moveit/issues/3388)
  • Time parameterization with torque limits, based on TOTG (#3412, #3427)
  • Make XmlRpcValue arguments const references (#3419)
  • Differential drive for planar Joints (#3359)
  • Fix deprecation warnings in Debian bookworm (#3397)
  • Add JointModel::satisfiesAccelerationBounds() (#3396)
  • Add CSM tests (#3395)
  • Fix TOTG: could return vels/accels greater than the limits (#3394)
  • Propagate \"clear octomap\" actions to monitoring planning scenes (#3134)
  • Fix (some) doxygen warnings (#3315)
  • Switch master build to C++17 (#3313)
  • Drop lib/ prefix from plugin paths (#3305)
  • Improve Ruckig time parameterization
    • Check for a Ruckig jerk limit parameter (#3375)
    • Optionally mitigate Ruckig overshoot
    • Reduce number of duration extensions
    • Fix termination condition (#3348)
    • Fix tests (#3300)
  • Contributors: Andy Zelenak, Filip Sund, Jochen Sprickerhof, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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Not currently indexed.

Dependant Packages

Name Repo Deps
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exotica_core github-ipab-slmc-exotica
fetch_ikfast_plugin github-fetchrobotics-fetch_ros
industrial_trajectory_filters github-ros-industrial-industrial_core
jsk_pcl_ros github-jsk-ros-pkg-jsk_recognition
jsk_pcl_ros_utils github-jsk-ros-pkg-jsk_recognition
khi_duaro_ikfast_plugin github-Kawasaki-Robotics-khi_robot
khi_rs_ikfast_plugin github-Kawasaki-Robotics-khi_robot
moveit github-ros-planning-moveit
moveit_kinematics github-ros-planning-moveit
moveit_planners_chomp github-ros-planning-moveit
chomp_motion_planner github-ros-planning-moveit
moveit_chomp_optimizer_adapter github-ros-planning-moveit
moveit_planners_ompl github-ros-planning-moveit
pilz_industrial_motion_planner github-ros-planning-moveit
pilz_industrial_motion_planner_testutils github-ros-planning-moveit
moveit_fake_controller_manager github-ros-planning-moveit
moveit_ros_control_interface github-ros-planning-moveit
moveit_simple_controller_manager github-ros-planning-moveit
moveit_ros_manipulation github-ros-planning-moveit
moveit_ros_move_group github-ros-planning-moveit
moveit_ros_occupancy_map_monitor github-ros-planning-moveit
moveit_ros_perception github-ros-planning-moveit
moveit_ros_planning github-ros-planning-moveit
moveit_runtime github-ros-planning-moveit
moveit_setup_assistant github-ros-planning-moveit
moveit_opw_kinematics_plugin github-JeroenDM-moveit_opw_kinematics_plugin
moveit_resources_prbt_ikfast_manipulator_plugin github-ros-planning-moveit_resources
moveit_sim_controller github-PickNikRobotics-moveit_sim_controller
moveit_sim_controller github-davetcoleman-moveit_sim_controller
moveit_visual_tools github-ros-planning-moveit_visual_tools
moveit_visual_tools github-davetcoleman-moveit_visual_tools
pilz_control github-PilzDE-pilz_robots
prbt_ikfast_manipulator_plugin github-PilzDE-pilz_robots
prbt_moveit_config github-PilzDE-pilz_robots
prbt_support github-PilzDE-pilz_robots
pincher_arm_ikfast_plugin github-fictionlab-pincher_arm
pincher_arm_moveit_demos github-fictionlab-pincher_arm
pr2_arm_kinematics github-pr2-pr2_kinematics
robot_body_filter github-peci1-robot_body_filter
sr_error_reporter github-shadow-robot-sr_interface
hand_kinematics github-shadow-robot-sr_interface
sr_robot_commander github-shadow-robot-sr_interface
trac_ik_kinematics_plugin bitbucket-traclabs-trac_ik
ur_kinematics github-ros-industrial-universal_robot
doosan_robotics github-doosan-robotics-doosan-robot
j2n6s300_ikfast github-Kinovarobotics-jaco-ros
j2s6s300_ikfast github-Kinovarobotics-jaco-ros
j2s7s300_ikfast github-Kinovarobotics-jaco-ros
m1n6s300_ikfast github-Kinovarobotics-jaco-ros
kinova_arm_moveit_demo github-Kinovarobotics-jaco-ros
moveit_calibration_gui github-ros-planning-moveit_calibration
moveit_task_constructor_capabilities github-ros-planning-moveit_task_constructor
moveit_task_constructor_core github-ros-planning-moveit_task_constructor
moveit_task_constructor_demo github-ros-planning-moveit_task_constructor
moveit_task_constructor_visualization github-ros-planning-moveit_task_constructor
reach_ros github-ros-industrial-reach_ros

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Recent questions tagged moveit_core at Robotics Stack Exchange

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Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version eloquent
Last Updated 2020-10-13
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt

Additional Links

Maintainers

  • Dave Coleman
  • Michael Görner
  • Michael Ferguson
  • MoveIt Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley

MoveIt Core

This repository includes core libraries used by MoveIt: - representation of kinematic models - collision detection interfaces and implementations - interfaces for kinematic solver plugins - interfaces for motion planning plugins - interfaces for controllers and sensors

These libraries do not depend on ROS (except ROS messages) and can be used independently.

CHANGELOG

Changelog for package moveit_core

2.0.0 (2020-02-17)

  • [fix] Fix double node executor exceptions
    • Load parameters from node instead of SyncParameterClient
  • [fix] Load planning request adapter parameters from subnamespace
  • [port] Port moveit_planners_ompl to ROS 2 (#142)
  • [improve] Load OMPL planner config parameters
  • [port] Re-enable parameter util functions
    • Construct constraints from node parameters
  • [port] Compile OMPL planning plugin
  • [fix] Fix Eigen3 linking issue in moveit_core (#164)
  • [port] Port moveit ros visualization to ROS 2 (#160)
  • [port] Port external rclcpp utils functions and add them to MoveIt 2 project temporary
  • [port] Port moveit_simple_controller_manager to ROS 2 (#158)
  • [port] Port moveit_simple_controller_manager
  • [fix] KinematicsBase: fix default value in parameter lookup (#154)
  • [sys] Upgrade to ROS 2 Eloquent (#152)
  • [fix] Fix unit tests
  • [maintenance] Remove redundant build dependency to \'angles\'
  • [sys] Fix CMakeLists.txt files for Eloquent
  • [improve] Pass node to KinematicsBase initialization (#145)
  • [sys] replace rosunit -> ament_cmake_gtest
  • [port] Port planning_request_adapter_plugins to ROS2 (#114)
  • [port] Port planning_request_adapter_plugins to ROS 2
  • [sys] Fix ament_lint
  • Contributors: Henning Kayser, Jafar Abdi

1.0.1 (2019-03-08)

  • [capability] Graphically print current robot joint states with joint limits (#1358)
  • [improve] Apply clang tidy fix to entire code base (Part 1) (#1366)
  • Contributors: Dave Coleman, Robert Haschke, Yu, Yan

1.0.0 (2019-02-24)

  • [fix] catkin_lint issues (#1341)
  • [fix] invert waypoint velocities on reverse (#1335)
  • [fix] Added missing robot state update to iterative spline parameterization to prevent warnings. (#1298)
  • [fix] robot_model_test_utils depends on message generation (#1286)
  • [improve] cleanup LMA kinematics solver #1318
  • [improve] Remove (redundant) random seeding and #attempts from RobotState::setFromIK() as the IK solver perform random seeding themselves. #1288
  • [improve] Make FCL shape cache thread-local (#1316)
  • [improve] Kinematics tests, kdl cleanup #1272, #1294
  • [maintenance] Add coverage analysis for moveit_core (#1133)
  • [improve] computeCartesianPath: limit joint-space jumps with IK consistency limits (#1293)
  • Contributors: Alexander Gutenkunst, Dave Coleman, Jonathan Binney, Martin Oehler, Michael G

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Package Summary

Tags No category tags.
Version 2.9.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2024-02-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt

Additional Links

Maintainers

  • Henning Kayser
  • Tyler Weaver
  • Michael Görner
  • MoveIt Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley
  • Dave Coleman

MoveIt Core

This repository includes core libraries used by MoveIt: - representation of kinematic models - collision detection interfaces and implementations - interfaces for kinematic solver plugins - interfaces for motion planning plugins - interfaces for controllers and sensors

These libraries do not depend on ROS (except ROS messages) and can be used independently.

CHANGELOG

Changelog for package moveit_core

2.9.0 (2024-01-09)

  • (core) Remove all references to python wrapper from the core pkg (#2623)
    • (core) remove commented python wrapper code
    • (core) remove dep on pybind11_vendor
  • Add missing pluginlib dependency (#2641)
  • make time_optimal_trajectory_generation harder to misuse (#2624)
    • make time_optimal_trajectory_generation harder to misuse
    • style fixes
    • more style fixes
    • more style fixes
    • address PR comments
  • Add collision_detection dependency on pluginlib (#2638) It is included by src/collision_plugin_cache.cpp, so it should be set as a dependency.
  • reset accelerations on setToDefaultValues (#2618)
  • fix out-of-bounds memory access with zero-variable joints (#2617)
  • Node logging for the rest of MoveIt (#2599)
  • Sync Ruckig with MoveIt1 (#2596)
    • Debug Ruckig tests (MoveIt1 3300)
    • Add a test, termination condition bugfix (MoveIt1 3348)
    • Mitigate Ruckig overshoot (MoveIt1 3376)
    • Small variable fixup
  • Add missing header (#2592)
  • Depend on [rsl::rsl]{.title-ref} as a non-Ament dependency (#2578)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Pass more distance information out from FCL collision check (#2572)

    • Pass more distance information out from FCL collision check

    * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Node logging in moveit_core (#2503)

  • Benchmark robot state (#2546)

    • simplify memory management in RobotState
    • further changes
    • avoid pointer arithmetic where possible
    • fix memory access issue on root joint with 0 variables
    • fix vector size
    • remove unused header
  • Remember original color of objects in planning scene (#2549)

  • Allow editing allowed collision matrix in python + fix get_entry function (#2551) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Fix angular distance calculation in floating joint model (#2538)

  • Add a benchmark for RobotTrajectory creation and timing. (#2530)

  • Consolidate RobotState benchmarks in single file (#2528)

    • Consolidate RobotState benchmarks in single file
    • some cosmetics
    • style fixes
    • additional comments
  • add rsl depend to moveit_core (#2532)

    • This should fix #2516
    • Several moveit2 packages already depend on rsl

    - PR #2482 added a depend in moveit_core This is only broken when building all of moveit2 deps in one colcon workspace And not using rosdep because colcon uses the package.xml and rsl might not have been built

  • Avoid calling static node\'s destructor. (#2513)

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

  • Use node logging in moveit_ros (#2482)

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

  • Use default initializers in collision_common.h (#2475)

  • Node logger through singleton (warehouse) (#2445) Co-authored-by: Abishalini Sivaraman <abi.gpuram@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Smoothing plugin API update and bug fix (#2470)

    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <andyz@utexas.edu> - Link against Eigen, not tf2_eigen - Don\'t resize every time - Don\'t reset the smoother_ every time - Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <ibrahimjkd@gmail.com> Co-authored-by: V Mohammed Ibrahim <12377945+ibrahiminfinite@users.noreply.github.com>

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

  • Fix typo in bullet function name (#2472)

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

  • Port #3464 from MoveIt1 (#2456) * Port unit test cherry-pick of https://github.com/ros-planning/moveit/pull/3464 * Increment added_path_index in callAdapter Doesn\'t work because previous=0 for all recursively called functions. * Pass individual add_path_index vectors to callAdapter ---------Co-authored-by: Hugal31 <hla@lescompanions.com>

  • [Python] Add RetimeTrajectory to RobotTrajectory (#2411)

    • [Python] Add RetimeTrajectory to RobotTrajectory

    * Split retime trajecotry in multiple functions Moved logic to trajectory_tools Added Docstrings * Removed retime function from python binding ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Use find_package for fcl (#2399)

  • Remove old deprecated functions (#2384)

  • Make getJacobian simpler and faster (#2389)

    • Make getJacobian simpler and faster
    • readability and const-correctness
    • fix issue when joint group is not at URDF origin
    • Update moveit_core/robot_state/src/robot_state.cpp
  • Add RobotState::getJacobian() tests (#2375)

  • Compare MoveIt! Jacobian against KDL (#2377)

  • Update clang-format-14 with QualifierAlignment (#2362)

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Converts float to double (#2343) * Limiting the scope of variables #874 Limited the scope of variables in moveit_core/collision_detection * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu>

    • convert float to double
    • change double to float
    • Feedback fixes
    • Introduced variables removed from previous merge commit
    • Updated GL_Renderer function definitions with double instead of float
    • Changed update() function arguments to float since it is a derived virtual function and needs to be overriden
    • Fixed all override errors in visualization

    * *Fixed override errors in perception*Changed reinterpret_cast to double* from float* - change variable types to fit function definition - Fixed clang-tidy warnings

    * Fixed scope of reusable variables ---------Co-authored-by: Salah Soliman <salahsoliman96@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Alex Moriarty, AndyZe, Chris Lalancette, Chris Thrasher, Jens Vanhooydonck, Mario Prats, Marq Rasmussen, Matthijs van der Burgh, Nacho Mellado, Rayene Messaoud, Robert Haschke, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Stephanie Eng, Tyler Weaver

2.8.0 (2023-09-10)

  • Add a benchmark for \'getJacobian\' (#2326)
  • [TOTG] Exit loop when position can\'t change (#2307)
  • Remove added path index from planner adapter function signature (#2285)
  • Fix typo in error message (#2286)
  • Fix comment formatting (#2276)
  • Cleanup planning request adapter interface (#2266)

    • Use default arguments instead of additional functions
    • Use generate param lib for default plan request adapters
    • Small cleanup of ResolveConstraintFrames
    • Remove dublicate yaml file entry
    • Move list_planning_adapter_plugins into own directory

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> - Fix copy& paste error

    * Update parameter descriptions Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Apply suggestions from code review Co-authored-by: Kyle Cesare <kcesare@gmail.com> - EMPTY_PATH_INDEX_VECTOR -> empty_path_index_vector - Update parameter yaml - Make param listener unique - Fix build error

    * Use gt_eq instead of deprecated lower_bounds ---------Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Kyle Cesare <kcesare@gmail.com>

  • fix for kinematic constraints parsing (#2267)

  • Contributors: Jorge Nicho, Mario Prats, Nacho Mellado, Sebastian Jahr, Stephanie Eng

2.7.4 (2023-05-18)

  • Add documentation and cleanups for PlanningRequestAdapter and PlanningRequestAdapterChain classes (#2142)
    • Cleanups
    • Add documentation and more cleanups
    • Revert size_t change
  • Fix collision checking in VisibilityConstraint (#1986)
  • Alphabetize, smart pointer not needed (#2148)
    • Alphabetize, smart pointer not needed
    • Readability
  • Fix getting variable bounds in mimic joints for TOTG (#2030)

    • Fix getting variable bounds in mimic joints for TOTG
    • Formatting
    • Remove unnecessary code
    • Do not include mimic joints in timing calculations
    • Change joint variable bounds at mimic creation time
    • Braces take you places
    • Fix other single-line if-else without braces in file for clang_tidy
    • Remove mimic bounds modification
    • Variable renaming and a comment

    * Fix index naming ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Joseph Schornak, Sebastian Castro, Sebastian Jahr

2.7.3 (2023-04-24)

2.7.2 (2023-04-18)

  • Add JointModel::satisfiesAccelerationBounds() (#2092)

    • Add JointModel::satisfiesAccelerationBounds()
    • Check Jerk bounds too

    * Check if bounds exist ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • A ROS param for Servo filter coefficient (#2091)

    • Add generate_parameter_library as dependency
    • Generate and export parameter target
    • Update butterworth filter to use params
    • Move param listener declaration to header
    • Formatting
    • Remove unnecessary rclcpp include
    • Fix alphabetical order
    • Make param listener local
    • Fix target exporting in cmake
    • Add moveit_ prefix to parameter library target
    • Remove obsolete comment
    • Member variable naming

    * Alphabetize ---------Co-authored-by: AndyZe <andyz@utexas.edu>

  • Merge pull request #1900 from Abishalini/pr-sync-1245f15 Sync with MoveIt1

  • Readd comment and assign error code

  • Merge https://github.com/ros-planning/moveit/commit/1245f151393fe09023efec3e1faead2d26737227

  • Add test and debug issue where TOTG returns accels > limit (#2084)

  • Move stateless PlanningScene helper functions out of the class (#2025)

  • Document how collision checking includes descendent links (#2058)

  • Optionally mitigate Ruckig overshoot (#2051)

    • Optionally mitigate Ruckig overshoot
    • Cleanup
  • Delete the Ruckig \"batches\" option, deprecated by #1990 (#2028)

  • Merge PR #3197: Improve computeCartesianPath()

  • Gracefully handle gtest 1.8 (Melodic) gtest 1.8 doesn\'t provide SetUpTestSuite(). Thus, we cannot share the RobotModel across tests.

  • Add unit tests for computeCartesianPath()

  • Add utils to simplify (approximate) equality checks for Eigen entities

  • robot_model_test_utils: Add loadIKPluginForGroup()

  • Simplify test_cartesian_interpolator.cpp

  • Generalize computeCartesianPath() to consider a link_offset This allows performing a circular motion about a non-link origin.

  • Cleanup CartesianInterpolator

    • Fixup doc comments
    • Add API providing the translation vector = direction * distance
    • Simplify implementation
  • Contributors: Abishalini, Abishalini Sivaraman, AndyZe, Robert Haschke, V Mohammed Ibrahim

2.7.1 (2023-03-23)

  • Ruckig-smoothing : reduce number of duration extensions (#1990)

    • extend duration only for failed segment
    • update comment
    • Remove trajectory reset before extension
    • readability improvement

    * Remove call to RobotState update ---------Co-authored-by: ibrahiminfinite <> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Fix mimic joints with TOTG (#1989)

  • changed C style cast to C++ style cast for void type (#2010) (void) -> static_cast<void>

  • Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Fix Ruckig termination condition (#1963)

  • Fix ci-testing build issues (#1998)

  • Fix invalid case style for private member in RobotTrajectory

  • Fix unreachable child logger instance

  • Document the Butterworth filter better (#1961)

  • Merge pull request #1546 from peterdavidfagan/moveit_py Python Bindings - moveit_py

  • remove old python bindings

  • remove underscore from public member in MotionPlanResponse (#1939)

    • remove underscore from private members
    • fix more uses of the suffix notation
  • Contributors: AlexWebb, AndyZe, Henning Kayser, Jafar, Robert Haschke, Sebastian Castro, Shobuj Paul, V Mohammed Ibrahim, peterdavidfagan

2.7.0 (2023-01-29)

  • Merge PR #1712: fix clang compiler warnings + stricter CI
  • Don\'t use ament_export_targets from package sub folder (#1889)
  • kinematic_constraints: update header frames (#1890)
  • Install collision_detector_bullet_plugin from moveit_core
  • Sort exports from moveit_core
  • Clean up kinematic_constraints/utils, add update functions (#1875)
  • Merge https://github.com/ros-planning/moveit/commit/9225971216885490e933ece25390c63ca14f8a58
  • converted characters from string format to character format (#1881)
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Add velocity and acceleration scaling when using custom limits in Time Parameterization (#1832)

    • add velocity and accelerations scaling when using custom limits for time parameterization
    • add scaling when passing in vecotor of joint-limits
    • add function descriptions
    • add verifyScalingFactor helper function
    • make map const
    • address feedback

    * add comment Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>

  • 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 GoogleTestVerification.UninstantiatedTypeParameterizedTestSuite

  • Modernize gtest: TYPED_TEST_CASE -> TYPED_TEST_SUITE

  • Fix warning: expression with side effects will be evaluated

  • Fix warning: definition of implicit copy assignment operator is deprecated

  • Cleanup msg includes: Use C++ instead of C header (#1844)

  • Fix trajectory unwind bug (#1772)

    • ensure trajectory starting point\'s position is enforced
    • fix angle jump bug
    • handle bounds enforcement edge case
    • clang tidy
    • Minor renaming, better comment, use .at() over []
    • First shot at a unit test
    • fix other unwind bugs
    • test should succeed now
    • unwind test needs a model with a continuous joint
    • clang tidy
    • add test for unwinding from wound up robot state
    • clang tidy

    * tweak test for special case to show that it will fail without these changes Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Require velocity and acceleration limits in TOTG (#1794)

    • Require vel/accel limits for TOTG

    * Comment improvements Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Use adjustable waypoint batch sizes for Ruckig (#1719)

    • Use adjustable waypoint batch sizes for Ruckig
    • Use std::optional for return value
    • Cleanup
    • Add comment about parameterizing
    • Fix potential segfault
    • Batch size argument
    • Use append()

    * Revert \"Use append()\" This reverts commit 96b86a6c783b05ba57e5a6a20bf901cd92ab74d7.

  • Fix moveit_core dependency on tf2_kdl (#1817) This is a proper dependency, and not only a test dependency. It is still needed when building moveit_core with -DBUILD_TESTING=OFF.

  • Bug fix: RobotTrajectory append() (#1813)

    • Add a test for append()
    • Don\'t add to the timestep, rather overwrite it
  • Print a warning from TOTG if the robot model mixes revolute/prismatic joints (#1799)

  • Tiny optimizations in enforcePositionBounds() for RevoluteJointModel (#1803)

  • Better TOTG comments (#1779) * Increase understanding of TOTG path_tolerance_ Tiny readability optimization - makes it a little easier for people to figure out what [path_tolerance_]{.title-ref} does

    • Update the units of path_tolerance_
    • Comment all 3 versions of computeTimeStamps
    • Add param for num_waypoints

    * More clarity on units Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Nathan Brooks <nathan.brooks@picknik.ai>

  • Fix BSD license in package.xml (#1796)

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • Remove unnecessary CMake variables and lists (#1790)

  • Stopping calling MoveIt an alpha-stage project (#1789)

  • Ensure all headers get installed within moveit_core directory (#1786)

  • Set the resample_dt_ member of TOTG back to const (#1776)

    • Set the resample_dt_ member of TOTG back to const

    * Remove unused TOTG instance in test Co-authored-by: Henning Kayser <henningkayser@picknik.ai> * Add \"totg\" to function name Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove Iterative Spline and Iterative Parabola time-param algorithms (v2) (#1780)

    • Iterative parabolic parameterization fails for nonzero initial/final conditions
    • Iterative spline parameterization fails, too
    • Delete Iterative Spline & Iterative Parabola algorithms
  • Use [target_include_directories]{.title-ref} (#1785)

  • Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.

  • Enable [-Wold-style-cast]{.title-ref} (#1770)

  • Add a version of TOTG computeTimeStamps() for a fixed num waypoints (#1771)

    • Add a version of computeTimeStamps() to yield a fixed num. waypoints
    • Add unit test
    • Prevent an ambiguous function signature
    • Remove debugging stuff
    • Can\'t have fewer than 2 waypoints
    • Warning about sparse waypoint spacing
    • Doxygen comments
    • Clarify about changing the shape of the path

    * Better comment Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Add [-Wunused-function]{.title-ref} (#1754)

  • Remove [MOVEIT_LIB_NAME]{.title-ref} (#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>

  • 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]{.title-ref} 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_.

  • Small optimization in constructGoalConstraints() (#1707)

    • Small optimization in constructGoalConstraints()

    * Quat defaults to unity Co-authored-by: Henning Kayser <henningkayser@picknik.ai> 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>

  • Generate version.h with git branch and commit hash (#2793)

    • Generate version.h on every build and include git hash and branch/tag name
    • Don\'t generate \"alpha\" postfix on buildfarm
    • Show git version via moveit_version

    * Change version postfix: alpha -> devel Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

  • Contributors: Abhijeet Das Gupta, Abishalini, AndyZe, Captain Yoshi, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Nathan Brooks, Robert Haschke, Sameer Gupta, Scott K Logan, Tyler Weaver

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>

  • Parallel planning pipelines (#1420)

    • Add setTrajectoryConstraints() to PlanningComponent
    • Add planning time to PlanningComponent::PlanSolution
    • Replace PlanSolution with MotionPlanResponse
    • Address review

    * Add MultiPipelinePlanRequestParameters Add plan(const MultiPipelinePlanRequestParameters& parameters) Add mutex to avoid segfaults Add optional stop_criterion_callback and solution_selection_callback Remove stop_criterion_callback Make default solution_selection_callback = nullptr Remove parameter handling copy&paste code in favor of a template Add TODO to refactor pushBack() method into insert() Fix selection criteria and add RCLCPP_INFO output Changes due to rebase and formatting Fix race condition and segfault when no solution is found Satisfy clang tidy Remove mutex and thread safety TODOs Add stopping functionality to parallel planning Remove unnecessary TODOs - Fix unused plan solution with failure - Add sanity check for number of parallel planning problems - Check stopping criterion when new solution is generated + make thread safe - Add terminatePlanningPipeline() to MoveItCpp interface - Format! - Bug fixes - Move getShortestSolution callback into own function - No east const - Remove PlanSolutions and make planner_id accessible - Make solution executable - Rename update_last_solution to store_solution - Alphabetize includes and include plan_solutions.hpp instead of .h - Address review - Add missing header

    * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Deprecate lookupParam function (#1681)

  • Add new error types (moveit_msgs #146) (#1683)

    • Add new error types (moveit_msgs #146)
    • Add default case

    * Small change to the default case Co-authored-by: Tyler Weaver <maybe@tylerjw.dev> Co-authored-by: Tyler Weaver <maybe@tylerjw.dev>

  • Planning request adapters: short-circuit if failure, return code rather than bool (#1605)

    • Return code rather than bool
    • Remove all debug prints
    • Small fixup
    • Minor cleanup of comment and error handling
    • void return from PlannerFn
    • Control reaches end of non-void function
    • Use a MoveItErrorCode cast
    • More efficient callAdapter()
    • More MoveItErrorCode
    • CI fixup attempt
  • Improve Cartesian interpolation (#1547) * Generalize computeCartesianPath() to consider a link_offset which allows performing a circular motion about a non-link origin. * Augment reference to argument global_reference_frame Co-authored-by: AndyZe <andyz@utexas.edu>

  • Remove unused clock from RobotTrajectory (#1639)

  • Added brace intialization in moveit_core/collision_detection_fcl & moveit_core/collision_detection_field (#1622)

  • added brace intialization (#1615)

  • Merge PR #1553: Improve cmake files

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

  • moveit_core/collision_detection: fix include order moveit_planning_scene\'s include directories have to be appended to the include directories found by ament_target_dependencies().

  • Add missing srdfdom dependency

  • Improve CMake usage (#1550)

  • size_t bijection index type (#1544)

  • Free functions for calculating properties of trajectories (#1503) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Const ptr to jmg arg for cost function (#1537)

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

  • Add error_code_to_string function (#1523)

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

  • Unified code comment style (#1053) * Changes the comment style from /**/ to // Co-authored-by: JafarAbdi <cafer.abdi@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove sensor manager (#1172)

  • Fixed fabs() use in quaternion interpolation (#1479)

    • Interpolate using Eigen::Quaternion::slerp() to (hopefully) save us further headaches and take advantage of Eigen probably having a better implementation than us.

    * Created a test case that fails for the old version, but passes for the new. Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Fixes for using generate_state_database (#1412)

  • fix path to constraints parameters

  • Remove __has_include statements (#1481)

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

  • Remove ConstraintSampler::project() (#3170) * Remove unused ompl_interface::ValidConstrainedSampler Last usage was removed in f2f6097ab7e272568d6ab258a53be3c7ca67cf3b. * Remove ConstraintSampler::project() sample() and project() only differ in whether they perform random sampling of the reference joint pose or not. Both of them are sampling. This was highly confusing, as from project() one wouldn\'t expect sampling.

  • 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: Abhijeet Das Gupta, Abishalini Sivaraman, Alaa, AndyZe, Henning Kayser, J. Javan, Michael Marron, Robert Haschke, Sebastian Jahr, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel, werner291

2.5.3 (2022-07-28)

  • Constraint samplers seed (#1411)
  • Contributors: Henry Moore

2.5.2 (2022-07-18)

  • Added const to moveit_core/collision_detection per issue 879 (#1416)
  • Add generic cost function to KinematicsBase, CartesianInterpolator, and RobotState (#1386)
  • Merge pull request #1402 from Abishalini/pr-sync-a436a97 Sync with MoveIt
  • Merge https://github.com/ros-planning/moveit/commit/a436a9771f7445c162cc3090c4c7c57bdb5bf194
  • Merge https://github.com/ros-planning/moveit/commit/c88f6fb64e9057a4b9a8f6fafc01060e8c48a216
  • Merge remote-tracking branch \'origin/main\' into feature/msa
  • Removing more boost usage (#1372)
  • Fix PlanarJointModel::satisfiesPositionBounds (#1353) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • Type safety for CartesianInterpolator (#1325)
  • 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)
  • Fix PlanarJointModel::satisfiesPositionBounds (#3160)
  • Port OMPL orientation constraints to MoveIt2 (#1273) Co-authored-by: JeroenDM <jeroendemaeyer@live.be> Co-authored-by: AndyZe <andyz@utexas.edu>
  • Switch to hpp headers of pluginlib
  • Adds another test case to #3124 and adds some further minor improvements to the original PR (#3142)
  • Fix bug in applying planning scene diffs that have attached collision objects (#3124) Co-authored-by: AndyZe <andyz@utexas.edu>
  • Fix flaky constraint sampler test (#3135)
  • Constraint samplers with seed (#3112) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
  • Fix clang-tidy warning (#3129)
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • Fix clang-tidy
  • using namespace collision_detection
  • banish bind()
  • various: prefer objects and references over pointers
  • Migrate PRA internals to lambdas
  • drop unused arguments not needed for lambda binding
  • simplify distance field method binding
  • Fix null pointer access to CollisionEnvObject in PlanningScene (#3104)
  • Contributors: Abishalini, Bilal Gill, David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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Dependant Packages

Name Repo Deps
moveit github-ros-planning-moveit2
moveit_kinematics github-ros-planning-moveit2
moveit_planners_chomp github-ros-planning-moveit2
chomp_motion_planner github-ros-planning-moveit2
moveit_planners_ompl github-ros-planning-moveit2
pilz_industrial_motion_planner github-ros-planning-moveit2
pilz_industrial_motion_planner_testutils github-ros-planning-moveit2
moveit_planners_stomp github-ros-planning-moveit2
moveit_resources_prbt_ikfast_manipulator_plugin github-ros-planning-moveit2
moveit_ros_control_interface github-ros-planning-moveit2
moveit_simple_controller_manager github-ros-planning-moveit2
moveit_py github-ros-planning-moveit2
moveit_ros_benchmarks github-ros-planning-moveit2
moveit_hybrid_planning github-ros-planning-moveit2
moveit_ros_move_group github-ros-planning-moveit2
moveit_servo github-ros-planning-moveit2
moveit_ros_occupancy_map_monitor github-ros-planning-moveit2
moveit_ros_perception github-ros-planning-moveit2
moveit_ros_planning github-ros-planning-moveit2
moveit_ros_planning_interface github-ros-planning-moveit2
moveit_ros_robot_interaction github-ros-planning-moveit2
moveit_ros_tests github-ros-planning-moveit2
moveit_ros_warehouse github-ros-planning-moveit2
moveit_runtime github-ros-planning-moveit2
moveit_setup_framework github-ros-planning-moveit2
moveit_visual_tools github-ros-planning-moveit_visual_tools
moveit_task_constructor_capabilities github-ros-planning-moveit_task_constructor
moveit_task_constructor_core github-ros-planning-moveit_task_constructor
moveit_task_constructor_demo github-ros-planning-moveit_task_constructor
moveit_task_constructor_visualization github-ros-planning-moveit_task_constructor

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Recent questions tagged moveit_core at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.9.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2024-02-21
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt

Additional Links

Maintainers

  • Henning Kayser
  • Tyler Weaver
  • Michael Görner
  • MoveIt Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley
  • Dave Coleman

MoveIt Core

This repository includes core libraries used by MoveIt: - representation of kinematic models - collision detection interfaces and implementations - interfaces for kinematic solver plugins - interfaces for motion planning plugins - interfaces for controllers and sensors

These libraries do not depend on ROS (except ROS messages) and can be used independently.

CHANGELOG

Changelog for package moveit_core

2.9.0 (2024-01-09)

  • (core) Remove all references to python wrapper from the core pkg (#2623)
    • (core) remove commented python wrapper code
    • (core) remove dep on pybind11_vendor
  • Add missing pluginlib dependency (#2641)
  • make time_optimal_trajectory_generation harder to misuse (#2624)
    • make time_optimal_trajectory_generation harder to misuse
    • style fixes
    • more style fixes
    • more style fixes
    • address PR comments
  • Add collision_detection dependency on pluginlib (#2638) It is included by src/collision_plugin_cache.cpp, so it should be set as a dependency.
  • reset accelerations on setToDefaultValues (#2618)
  • fix out-of-bounds memory access with zero-variable joints (#2617)
  • Node logging for the rest of MoveIt (#2599)
  • Sync Ruckig with MoveIt1 (#2596)
    • Debug Ruckig tests (MoveIt1 3300)
    • Add a test, termination condition bugfix (MoveIt1 3348)
    • Mitigate Ruckig overshoot (MoveIt1 3376)
    • Small variable fixup
  • Add missing header (#2592)
  • Depend on [rsl::rsl]{.title-ref} as a non-Ament dependency (#2578)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Pass more distance information out from FCL collision check (#2572)

    • Pass more distance information out from FCL collision check

    * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Update moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Node logging in moveit_core (#2503)

  • Benchmark robot state (#2546)

    • simplify memory management in RobotState
    • further changes
    • avoid pointer arithmetic where possible
    • fix memory access issue on root joint with 0 variables
    • fix vector size
    • remove unused header
  • Remember original color of objects in planning scene (#2549)

  • Allow editing allowed collision matrix in python + fix get_entry function (#2551) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Fix angular distance calculation in floating joint model (#2538)

  • Add a benchmark for RobotTrajectory creation and timing. (#2530)

  • Consolidate RobotState benchmarks in single file (#2528)

    • Consolidate RobotState benchmarks in single file
    • some cosmetics
    • style fixes
    • additional comments
  • add rsl depend to moveit_core (#2532)

    • This should fix #2516
    • Several moveit2 packages already depend on rsl

    - PR #2482 added a depend in moveit_core This is only broken when building all of moveit2 deps in one colcon workspace And not using rosdep because colcon uses the package.xml and rsl might not have been built

  • Avoid calling static node\'s destructor. (#2513)

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

  • Use node logging in moveit_ros (#2482)

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

  • Use default initializers in collision_common.h (#2475)

  • Node logger through singleton (warehouse) (#2445) Co-authored-by: Abishalini Sivaraman <abi.gpuram@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Smoothing plugin API update and bug fix (#2470)

    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <andyz@utexas.edu> - Link against Eigen, not tf2_eigen - Don\'t resize every time - Don\'t reset the smoother_ every time - Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <ibrahimjkd@gmail.com> Co-authored-by: V Mohammed Ibrahim <12377945+ibrahiminfinite@users.noreply.github.com>

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

  • Fix typo in bullet function name (#2472)

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

  • Port #3464 from MoveIt1 (#2456) * Port unit test cherry-pick of https://github.com/ros-planning/moveit/pull/3464 * Increment added_path_index in callAdapter Doesn\'t work because previous=0 for all recursively called functions. * Pass individual add_path_index vectors to callAdapter ---------Co-authored-by: Hugal31 <hla@lescompanions.com>

  • [Python] Add RetimeTrajectory to RobotTrajectory (#2411)

    • [Python] Add RetimeTrajectory to RobotTrajectory

    * Split retime trajecotry in multiple functions Moved logic to trajectory_tools Added Docstrings * Removed retime function from python binding ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Use find_package for fcl (#2399)

  • Remove old deprecated functions (#2384)

  • Make getJacobian simpler and faster (#2389)

    • Make getJacobian simpler and faster
    • readability and const-correctness
    • fix issue when joint group is not at URDF origin
    • Update moveit_core/robot_state/src/robot_state.cpp
  • Add RobotState::getJacobian() tests (#2375)

  • Compare MoveIt! Jacobian against KDL (#2377)

  • Update clang-format-14 with QualifierAlignment (#2362)

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Converts float to double (#2343) * Limiting the scope of variables #874 Limited the scope of variables in moveit_core/collision_detection * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu> * Update moveit_core/collision_detection/src/collision_octomap_filter.cpp Co-authored-by: AndyZe <andyz@utexas.edu>

    • convert float to double
    • change double to float
    • Feedback fixes
    • Introduced variables removed from previous merge commit
    • Updated GL_Renderer function definitions with double instead of float
    • Changed update() function arguments to float since it is a derived virtual function and needs to be overriden
    • Fixed all override errors in visualization

    * *Fixed override errors in perception*Changed reinterpret_cast to double* from float* - change variable types to fit function definition - Fixed clang-tidy warnings

    * Fixed scope of reusable variables ---------Co-authored-by: Salah Soliman <salahsoliman96@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Alex Moriarty, AndyZe, Chris Lalancette, Chris Thrasher, Jens Vanhooydonck, Mario Prats, Marq Rasmussen, Matthijs van der Burgh, Nacho Mellado, Rayene Messaoud, Robert Haschke, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Stephanie Eng, Tyler Weaver

2.8.0 (2023-09-10)

  • Add a benchmark for \'getJacobian\' (#2326)
  • [TOTG] Exit loop when position can\'t change (#2307)
  • Remove added path index from planner adapter function signature (#2285)
  • Fix typo in error message (#2286)
  • Fix comment formatting (#2276)
  • Cleanup planning request adapter interface (#2266)

    • Use default arguments instead of additional functions
    • Use generate param lib for default plan request adapters
    • Small cleanup of ResolveConstraintFrames
    • Remove dublicate yaml file entry
    • Move list_planning_adapter_plugins into own directory

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> - Fix copy& paste error

    * Update parameter descriptions Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Apply suggestions from code review Co-authored-by: Kyle Cesare <kcesare@gmail.com> - EMPTY_PATH_INDEX_VECTOR -> empty_path_index_vector - Update parameter yaml - Make param listener unique - Fix build error

    * Use gt_eq instead of deprecated lower_bounds ---------Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Kyle Cesare <kcesare@gmail.com>

  • fix for kinematic constraints parsing (#2267)

  • Contributors: Jorge Nicho, Mario Prats, Nacho Mellado, Sebastian Jahr, Stephanie Eng

2.7.4 (2023-05-18)

  • Add documentation and cleanups for PlanningRequestAdapter and PlanningRequestAdapterChain classes (#2142)
    • Cleanups
    • Add documentation and more cleanups
    • Revert size_t change
  • Fix collision checking in VisibilityConstraint (#1986)
  • Alphabetize, smart pointer not needed (#2148)
    • Alphabetize, smart pointer not needed
    • Readability
  • Fix getting variable bounds in mimic joints for TOTG (#2030)

    • Fix getting variable bounds in mimic joints for TOTG
    • Formatting
    • Remove unnecessary code
    • Do not include mimic joints in timing calculations
    • Change joint variable bounds at mimic creation time
    • Braces take you places
    • Fix other single-line if-else without braces in file for clang_tidy
    • Remove mimic bounds modification
    • Variable renaming and a comment

    * Fix index naming ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Joseph Schornak, Sebastian Castro, Sebastian Jahr

2.7.3 (2023-04-24)

2.7.2 (2023-04-18)

  • Add JointModel::satisfiesAccelerationBounds() (#2092)

    • Add JointModel::satisfiesAccelerationBounds()
    • Check Jerk bounds too

    * Check if bounds exist ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • A ROS param for Servo filter coefficient (#2091)

    • Add generate_parameter_library as dependency
    • Generate and export parameter target
    • Update butterworth filter to use params
    • Move param listener declaration to header
    • Formatting
    • Remove unnecessary rclcpp include
    • Fix alphabetical order
    • Make param listener local
    • Fix target exporting in cmake
    • Add moveit_ prefix to parameter library target
    • Remove obsolete comment
    • Member variable naming

    * Alphabetize ---------Co-authored-by: AndyZe <andyz@utexas.edu>

  • Merge pull request #1900 from Abishalini/pr-sync-1245f15 Sync with MoveIt1

  • Readd comment and assign error code

  • Merge https://github.com/ros-planning/moveit/commit/1245f151393fe09023efec3e1faead2d26737227

  • Add test and debug issue where TOTG returns accels > limit (#2084)

  • Move stateless PlanningScene helper functions out of the class (#2025)

  • Document how collision checking includes descendent links (#2058)

  • Optionally mitigate Ruckig overshoot (#2051)

    • Optionally mitigate Ruckig overshoot
    • Cleanup
  • Delete the Ruckig \"batches\" option, deprecated by #1990 (#2028)

  • Merge PR #3197: Improve computeCartesianPath()

  • Gracefully handle gtest 1.8 (Melodic) gtest 1.8 doesn\'t provide SetUpTestSuite(). Thus, we cannot share the RobotModel across tests.

  • Add unit tests for computeCartesianPath()

  • Add utils to simplify (approximate) equality checks for Eigen entities

  • robot_model_test_utils: Add loadIKPluginForGroup()

  • Simplify test_cartesian_interpolator.cpp

  • Generalize computeCartesianPath() to consider a link_offset This allows performing a circular motion about a non-link origin.

  • Cleanup CartesianInterpolator

    • Fixup doc comments
    • Add API providing the translation vector = direction * distance
    • Simplify implementation
  • Contributors: Abishalini, Abishalini Sivaraman, AndyZe, Robert Haschke, V Mohammed Ibrahim

2.7.1 (2023-03-23)

  • Ruckig-smoothing : reduce number of duration extensions (#1990)

    • extend duration only for failed segment
    • update comment
    • Remove trajectory reset before extension
    • readability improvement

    * Remove call to RobotState update ---------Co-authored-by: ibrahiminfinite <> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Fix mimic joints with TOTG (#1989)

  • changed C style cast to C++ style cast for void type (#2010) (void) -> static_cast<void>

  • Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Fix Ruckig termination condition (#1963)

  • Fix ci-testing build issues (#1998)

  • Fix invalid case style for private member in RobotTrajectory

  • Fix unreachable child logger instance

  • Document the Butterworth filter better (#1961)

  • Merge pull request #1546 from peterdavidfagan/moveit_py Python Bindings - moveit_py

  • remove old python bindings

  • remove underscore from public member in MotionPlanResponse (#1939)

    • remove underscore from private members
    • fix more uses of the suffix notation
  • Contributors: AlexWebb, AndyZe, Henning Kayser, Jafar, Robert Haschke, Sebastian Castro, Shobuj Paul, V Mohammed Ibrahim, peterdavidfagan

2.7.0 (2023-01-29)

  • Merge PR #1712: fix clang compiler warnings + stricter CI
  • Don\'t use ament_export_targets from package sub folder (#1889)
  • kinematic_constraints: update header frames (#1890)
  • Install collision_detector_bullet_plugin from moveit_core
  • Sort exports from moveit_core
  • Clean up kinematic_constraints/utils, add update functions (#1875)
  • Merge https://github.com/ros-planning/moveit/commit/9225971216885490e933ece25390c63ca14f8a58
  • converted characters from string format to character format (#1881)
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Add velocity and acceleration scaling when using custom limits in Time Parameterization (#1832)

    • add velocity and accelerations scaling when using custom limits for time parameterization
    • add scaling when passing in vecotor of joint-limits
    • add function descriptions
    • add verifyScalingFactor helper function
    • make map const
    • address feedback

    * add comment Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>

  • 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 GoogleTestVerification.UninstantiatedTypeParameterizedTestSuite

  • Modernize gtest: TYPED_TEST_CASE -> TYPED_TEST_SUITE

  • Fix warning: expression with side effects will be evaluated

  • Fix warning: definition of implicit copy assignment operator is deprecated

  • Cleanup msg includes: Use C++ instead of C header (#1844)

  • Fix trajectory unwind bug (#1772)

    • ensure trajectory starting point\'s position is enforced
    • fix angle jump bug
    • handle bounds enforcement edge case
    • clang tidy
    • Minor renaming, better comment, use .at() over []
    • First shot at a unit test
    • fix other unwind bugs
    • test should succeed now
    • unwind test needs a model with a continuous joint
    • clang tidy
    • add test for unwinding from wound up robot state
    • clang tidy

    * tweak test for special case to show that it will fail without these changes Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Require velocity and acceleration limits in TOTG (#1794)

    • Require vel/accel limits for TOTG

    * Comment improvements Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Use adjustable waypoint batch sizes for Ruckig (#1719)

    • Use adjustable waypoint batch sizes for Ruckig
    • Use std::optional for return value
    • Cleanup
    • Add comment about parameterizing
    • Fix potential segfault
    • Batch size argument
    • Use append()

    * Revert \"Use append()\" This reverts commit 96b86a6c783b05ba57e5a6a20bf901cd92ab74d7.

  • Fix moveit_core dependency on tf2_kdl (#1817) This is a proper dependency, and not only a test dependency. It is still needed when building moveit_core with -DBUILD_TESTING=OFF.

  • Bug fix: RobotTrajectory append() (#1813)

    • Add a test for append()
    • Don\'t add to the timestep, rather overwrite it
  • Print a warning from TOTG if the robot model mixes revolute/prismatic joints (#1799)

  • Tiny optimizations in enforcePositionBounds() for RevoluteJointModel (#1803)

  • Better TOTG comments (#1779) * Increase understanding of TOTG path_tolerance_ Tiny readability optimization - makes it a little easier for people to figure out what [path_tolerance_]{.title-ref} does

    • Update the units of path_tolerance_
    • Comment all 3 versions of computeTimeStamps
    • Add param for num_waypoints

    * More clarity on units Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Nathan Brooks <nathan.brooks@picknik.ai>

  • Fix BSD license in package.xml (#1796)

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • Remove unnecessary CMake variables and lists (#1790)

  • Stopping calling MoveIt an alpha-stage project (#1789)

  • Ensure all headers get installed within moveit_core directory (#1786)

  • Set the resample_dt_ member of TOTG back to const (#1776)

    • Set the resample_dt_ member of TOTG back to const

    * Remove unused TOTG instance in test Co-authored-by: Henning Kayser <henningkayser@picknik.ai> * Add \"totg\" to function name Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove Iterative Spline and Iterative Parabola time-param algorithms (v2) (#1780)

    • Iterative parabolic parameterization fails for nonzero initial/final conditions
    • Iterative spline parameterization fails, too
    • Delete Iterative Spline & Iterative Parabola algorithms
  • Use [target_include_directories]{.title-ref} (#1785)

  • Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.

  • Enable [-Wold-style-cast]{.title-ref} (#1770)

  • Add a version of TOTG computeTimeStamps() for a fixed num waypoints (#1771)

    • Add a version of computeTimeStamps() to yield a fixed num. waypoints
    • Add unit test
    • Prevent an ambiguous function signature
    • Remove debugging stuff
    • Can\'t have fewer than 2 waypoints
    • Warning about sparse waypoint spacing
    • Doxygen comments
    • Clarify about changing the shape of the path

    * Better comment Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  • Add [-Wunused-function]{.title-ref} (#1754)

  • Remove [MOVEIT_LIB_NAME]{.title-ref} (#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>

  • 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]{.title-ref} 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_.

  • Small optimization in constructGoalConstraints() (#1707)

    • Small optimization in constructGoalConstraints()

    * Quat defaults to unity Co-authored-by: Henning Kayser <henningkayser@picknik.ai> 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>

  • Generate version.h with git branch and commit hash (#2793)

    • Generate version.h on every build and include git hash and branch/tag name
    • Don\'t generate \"alpha\" postfix on buildfarm
    • Show git version via moveit_version

    * Change version postfix: alpha -> devel Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

  • Contributors: Abhijeet Das Gupta, Abishalini, AndyZe, Captain Yoshi, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Nathan Brooks, Robert Haschke, Sameer Gupta, Scott K Logan, Tyler Weaver

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>

  • Parallel planning pipelines (#1420)

    • Add setTrajectoryConstraints() to PlanningComponent
    • Add planning time to PlanningComponent::PlanSolution
    • Replace PlanSolution with MotionPlanResponse
    • Address review

    * Add MultiPipelinePlanRequestParameters Add plan(const MultiPipelinePlanRequestParameters& parameters) Add mutex to avoid segfaults Add optional stop_criterion_callback and solution_selection_callback Remove stop_criterion_callback Make default solution_selection_callback = nullptr Remove parameter handling copy&paste code in favor of a template Add TODO to refactor pushBack() method into insert() Fix selection criteria and add RCLCPP_INFO output Changes due to rebase and formatting Fix race condition and segfault when no solution is found Satisfy clang tidy Remove mutex and thread safety TODOs Add stopping functionality to parallel planning Remove unnecessary TODOs - Fix unused plan solution with failure - Add sanity check for number of parallel planning problems - Check stopping criterion when new solution is generated + make thread safe - Add terminatePlanningPipeline() to MoveItCpp interface - Format! - Bug fixes - Move getShortestSolution callback into own function - No east const - Remove PlanSolutions and make planner_id accessible - Make solution executable - Rename update_last_solution to store_solution - Alphabetize includes and include plan_solutions.hpp instead of .h - Address review - Add missing header

    * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Deprecate lookupParam function (#1681)

  • Add new error types (moveit_msgs #146) (#1683)

    • Add new error types (moveit_msgs #146)
    • Add default case

    * Small change to the default case Co-authored-by: Tyler Weaver <maybe@tylerjw.dev> Co-authored-by: Tyler Weaver <maybe@tylerjw.dev>

  • Planning request adapters: short-circuit if failure, return code rather than bool (#1605)

    • Return code rather than bool
    • Remove all debug prints
    • Small fixup
    • Minor cleanup of comment and error handling
    • void return from PlannerFn
    • Control reaches end of non-void function
    • Use a MoveItErrorCode cast
    • More efficient callAdapter()
    • More MoveItErrorCode
    • CI fixup attempt
  • Improve Cartesian interpolation (#1547) * Generalize computeCartesianPath() to consider a link_offset which allows performing a circular motion about a non-link origin. * Augment reference to argument global_reference_frame Co-authored-by: AndyZe <andyz@utexas.edu>

  • Remove unused clock from RobotTrajectory (#1639)

  • Added brace intialization in moveit_core/collision_detection_fcl & moveit_core/collision_detection_field (#1622)

  • added brace intialization (#1615)

  • Merge PR #1553: Improve cmake files

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

  • moveit_core/collision_detection: fix include order moveit_planning_scene\'s include directories have to be appended to the include directories found by ament_target_dependencies().

  • Add missing srdfdom dependency

  • Improve CMake usage (#1550)

  • size_t bijection index type (#1544)

  • Free functions for calculating properties of trajectories (#1503) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

  • Const ptr to jmg arg for cost function (#1537)

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

  • Add error_code_to_string function (#1523)

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

  • Unified code comment style (#1053) * Changes the comment style from /**/ to // Co-authored-by: JafarAbdi <cafer.abdi@gmail.com> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

  • Remove sensor manager (#1172)

  • Fixed fabs() use in quaternion interpolation (#1479)

    • Interpolate using Eigen::Quaternion::slerp() to (hopefully) save us further headaches and take advantage of Eigen probably having a better implementation than us.

    * Created a test case that fails for the old version, but passes for the new. Co-authored-by: AndyZe <zelenak@picknik.ai>

  • Fixes for using generate_state_database (#1412)

  • fix path to constraints parameters

  • Remove __has_include statements (#1481)

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

  • Remove ConstraintSampler::project() (#3170) * Remove unused ompl_interface::ValidConstrainedSampler Last usage was removed in f2f6097ab7e272568d6ab258a53be3c7ca67cf3b. * Remove ConstraintSampler::project() sample() and project() only differ in whether they perform random sampling of the reference joint pose or not. Both of them are sampling. This was highly confusing, as from project() one wouldn\'t expect sampling.

  • 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: Abhijeet Das Gupta, Abishalini Sivaraman, Alaa, AndyZe, Henning Kayser, J. Javan, Michael Marron, Robert Haschke, Sebastian Jahr, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel, werner291

2.5.3 (2022-07-28)

  • Constraint samplers seed (#1411)
  • Contributors: Henry Moore

2.5.2 (2022-07-18)

  • Added const to moveit_core/collision_detection per issue 879 (#1416)
  • Add generic cost function to KinematicsBase, CartesianInterpolator, and RobotState (#1386)
  • Merge pull request #1402 from Abishalini/pr-sync-a436a97 Sync with MoveIt
  • Merge https://github.com/ros-planning/moveit/commit/a436a9771f7445c162cc3090c4c7c57bdb5bf194
  • Merge https://github.com/ros-planning/moveit/commit/c88f6fb64e9057a4b9a8f6fafc01060e8c48a216
  • Merge remote-tracking branch \'origin/main\' into feature/msa
  • Removing more boost usage (#1372)
  • Fix PlanarJointModel::satisfiesPositionBounds (#1353) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • Type safety for CartesianInterpolator (#1325)
  • 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)
  • Fix PlanarJointModel::satisfiesPositionBounds (#3160)
  • Port OMPL orientation constraints to MoveIt2 (#1273) Co-authored-by: JeroenDM <jeroendemaeyer@live.be> Co-authored-by: AndyZe <andyz@utexas.edu>
  • Switch to hpp headers of pluginlib
  • Adds another test case to #3124 and adds some further minor improvements to the original PR (#3142)
  • Fix bug in applying planning scene diffs that have attached collision objects (#3124) Co-authored-by: AndyZe <andyz@utexas.edu>
  • Fix flaky constraint sampler test (#3135)
  • Constraint samplers with seed (#3112) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
  • Fix clang-tidy warning (#3129)
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • Fix clang-tidy
  • using namespace collision_detection
  • banish bind()
  • various: prefer objects and references over pointers
  • Migrate PRA internals to lambdas
  • drop unused arguments not needed for lambda binding
  • simplify distance field method binding
  • Fix null pointer access to CollisionEnvObject in PlanningScene (#3104)
  • Contributors: Abishalini, Bilal Gill, David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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Dependant Packages

Name Repo Deps
moveit github-ros-planning-moveit2
moveit_kinematics github-ros-planning-moveit2
moveit_planners_chomp github-ros-planning-moveit2
chomp_motion_planner github-ros-planning-moveit2
moveit_planners_ompl github-ros-planning-moveit2
pilz_industrial_motion_planner github-ros-planning-moveit2
pilz_industrial_motion_planner_testutils github-ros-planning-moveit2
moveit_planners_stomp github-ros-planning-moveit2
moveit_resources_prbt_ikfast_manipulator_plugin github-ros-planning-moveit2
moveit_ros_control_interface github-ros-planning-moveit2
moveit_simple_controller_manager github-ros-planning-moveit2
moveit_py github-ros-planning-moveit2
moveit_ros_benchmarks github-ros-planning-moveit2
moveit_hybrid_planning github-ros-planning-moveit2
moveit_ros_move_group github-ros-planning-moveit2
moveit_servo github-ros-planning-moveit2
moveit_ros_occupancy_map_monitor github-ros-planning-moveit2
moveit_ros_perception github-ros-planning-moveit2
moveit_ros_planning github-ros-planning-moveit2
moveit_ros_planning_interface github-ros-planning-moveit2
moveit_ros_robot_interaction github-ros-planning-moveit2
moveit_ros_tests github-ros-planning-moveit2
moveit_ros_warehouse github-ros-planning-moveit2
moveit_runtime github-ros-planning-moveit2
moveit_setup_framework github-ros-planning-moveit2
moveit_opw_kinematics_plugin github-JeroenDM-moveit_opw_kinematics_plugin
moveit_visual_tools github-ros-planning-moveit_visual_tools
moveit_visual_tools github-davetcoleman-moveit_visual_tools
moveit_calibration_gui github-ros-planning-moveit_calibration

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Recent questions tagged moveit_core at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.9.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-10-12
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt!

Additional Links

Maintainers

  • Dave Coleman
  • Michael Görner
  • Michael Ferguson
  • MoveIt! Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley

MoveIt! Core

This repository includes core libraries used by MoveIt: - representation of kinematic models - collision detection interfaces and implementations - interfaces for kinematic solver plugins - interfaces for motion planning plugins - interfaces for controllers and sensors

These libraries do not depend on ROS (except ROS messages) and can be used independently.

CHANGELOG

Changelog for package moveit_core

0.9.18 (2020-01-24)

  • [maintanance] Removed dependency moveit_core -> moveit_experimental again
  • Contributors: Robert Haschke

0.9.17 (2019-07-09)

0.9.16 (2019-06-29)

  • [fix] Invert waypoint velocities on reverse (#1335)
  • [fix] Added missing robot state update to iterative spline parameterization (#1298)
  • [fix] Fix race condition when world object was removed (#1306)
  • [fix] Fixed calculation of Jacobian for prismatic joints (#1192)
  • [maintanance] Improve code quality (#1340)
  • [maintanance] Resolve catkin lint issues (#1137)
  • [maintanance] Cleanup Chomp packages (#1282)

    : Moved collision_distance_field to moveit_core Add dependency moveit_core -> moveit_experimental

  • [maintanance] Add (manual) coverage analysis (#1133)

  • [maintanance] ConstraintSampler cleanup (#1247)

  • [maintanance] Fix clang issues (#1233, #1214)

  • [feature] Helper function to construct constraints from ROS params (#1253)

  • [feature] Allow appending of only a part of a trajectory (#1213)

  • Contributors: Alexander Gutenkunst, Ludovic Delval, Martin Oehler, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

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Messages

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Services

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Plugins

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Recent questions tagged moveit_core at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.8.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit_core.git
VCS Type git
VCS Version jade-devel
Last Updated 2016-08-05
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt!

Additional Links

Maintainers

  • Sachin Chitta
  • Ioan Sucan
  • Acorn Pooley
  • Michael Ferguson

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley

This Repository Has Moved

The new location as of August 5th, 2016 is https://github.com/ros-planning/moveit

See migration notes for more details.

Please do not open new pull requests or issues in this old location.

CHANGELOG

Could not convert RST to MD: pandoc: Cannot decode byte '\x8f': Data.Text.Internal.Encoding.decodeUtf8: Invalid UTF-8 stream

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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fanuc_lrmate200ib_moveit_plugins github-ros-industrial-fanuc
fanuc_lrmate200ic_moveit_plugins github-ros-industrial-fanuc
fanuc_m10ia_moveit_plugins github-ros-industrial-fanuc
fanuc_m16ib_moveit_plugins github-ros-industrial-fanuc
fanuc_m20ia_moveit_plugins github-ros-industrial-fanuc
fanuc_m20ib_moveit_plugins github-ros-industrial-fanuc
fanuc_m430ia_moveit_plugins github-ros-industrial-fanuc
fanuc_m6ib_moveit_plugins github-ros-industrial-fanuc
fanuc_r1000ia_moveit_plugins github-ros-industrial-fanuc
fanuc_lrmate200id_moveit_plugins github-ros-industrial-fanuc_experimental
fetch_ikfast_plugin github-fetchrobotics-fetch_ros
industrial_trajectory_filters github-ros-industrial-industrial_core
jsk_pcl_ros github-jsk-ros-pkg-jsk_recognition
jsk_pcl_ros_utils github-jsk-ros-pkg-jsk_recognition
moveit github-ros-planning-moveit
moveit_experimental github-ros-planning-moveit
moveit_kinematics github-ros-planning-moveit
moveit_planners_chomp github-ros-planning-moveit
chomp_motion_planner github-ros-planning-moveit
moveit_planners_ompl github-ros-planning-moveit
moveit_planners_ompl github-ros-planning-moveit_planners
moveit_controller_manager_example github-ros-planning-moveit
moveit_controller_manager_example github-ros-planning-moveit_plugins
moveit_fake_controller_manager github-ros-planning-moveit
moveit_fake_controller_manager github-ros-planning-moveit_plugins
moveit_ros_control_interface github-ros-planning-moveit
moveit_ros_control_interface github-ros-planning-moveit_plugins
moveit_simple_controller_manager github-ros-planning-moveit
moveit_simple_controller_manager github-ros-planning-moveit_plugins
moveit_ros_manipulation github-ros-planning-moveit
moveit_ros_manipulation github-ros-planning-moveit_ros
moveit_ros_move_group github-ros-planning-moveit
moveit_ros_move_group github-ros-planning-moveit_ros
moveit_ros_perception github-ros-planning-moveit
moveit_ros_perception github-ros-planning-moveit_ros
moveit_ros_planning github-ros-planning-moveit
moveit_ros_planning github-ros-planning-moveit_ros
moveit_runtime github-ros-planning-moveit
moveit_setup_assistant github-ros-planning-moveit
moveit_setup_assistant github-ros-planning-moveit_setup_assistant
moveit_resources_prbt_ikfast_manipulator_plugin github-ros-planning-moveit_resources
moveit_sim_controller github-PickNikRobotics-moveit_sim_controller
moveit_sim_controller github-davetcoleman-moveit_sim_controller
moveit_visual_tools github-ros-planning-moveit_visual_tools
moveit_visual_tools github-davetcoleman-moveit_visual_tools
pr2_arm_kinematics github-pr2-pr2_kinematics
hand_kinematics github-shadow-robot-sr_interface
sr_robot_commander github-shadow-robot-sr_interface
trac_ik_kinematics_plugin bitbucket-traclabs-trac_ik
force_torque_sensor_calib github-kth-ros-pkg-force_torque_tools
katana_moveit_ikfast_plugin github-uos-katana_driver
aubo_kinematics github-auboliuxin-aubo_robot
aubo_trajectory github-auboliuxin-aubo_robot
aubo_trajectory_filters github-auboliuxin-aubo_robot
object_recognition_tabletop github-wg-perception-tabletop
ompl_visual_tools github-davetcoleman-ompl_visual_tools

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_core at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.7.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit_core.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-08-05
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Core libraries used by MoveIt!

Additional Links

Maintainers

  • Sachin Chitta
  • Ioan Sucan
  • Acorn Pooley
  • Michael Ferguson

Authors

  • Ioan Sucan
  • Sachin Chitta
  • Acorn Pooley

This Repository Has Moved

The new location as of August 5th, 2016 is https://github.com/ros-planning/moveit

See migration notes for more details.

Please do not open new pull requests or issues in this old location.

CHANGELOG

Could not convert RST to MD: pandoc: Cannot decode byte '\x8f': Data.Text.Internal.Encoding.decodeUtf8: Invalid UTF-8 stream

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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fanuc_lrmate200i_moveit_plugins github-ros-industrial-fanuc
fanuc_lrmate200ib_moveit_plugins github-ros-industrial-fanuc
fanuc_lrmate200ic_moveit_plugins github-ros-industrial-fanuc
fanuc_m10ia_moveit_plugins github-ros-industrial-fanuc
fanuc_m16ib_moveit_plugins github-ros-industrial-fanuc
fanuc_m20ia_moveit_plugins github-ros-industrial-fanuc
fanuc_m20ib_moveit_plugins github-ros-industrial-fanuc
fanuc_m430ia_moveit_plugins github-ros-industrial-fanuc
fanuc_m6ib_moveit_plugins github-ros-industrial-fanuc
fanuc_r1000ia_moveit_plugins github-ros-industrial-fanuc
fanuc_lrmate200id_moveit_plugins github-ros-industrial-fanuc_experimental
fetch_ikfast_plugin github-fetchrobotics-fetch_ros
industrial_trajectory_filters github-ros-industrial-industrial_core
jsk_pcl_ros github-jsk-ros-pkg-jsk_recognition
jsk_pcl_ros_utils github-jsk-ros-pkg-jsk_recognition
moveit github-ros-planning-moveit
moveit_experimental github-ros-planning-moveit
moveit_kinematics github-ros-planning-moveit
moveit_planners_chomp github-ros-planning-moveit
chomp_motion_planner github-ros-planning-moveit
moveit_planners_ompl github-ros-planning-moveit
moveit_planners_ompl github-ros-planning-moveit_planners
moveit_controller_manager_example github-ros-planning-moveit
moveit_controller_manager_example github-ros-planning-moveit_plugins
moveit_fake_controller_manager github-ros-planning-moveit
moveit_fake_controller_manager github-ros-planning-moveit_plugins
moveit_ros_control_interface github-ros-planning-moveit
moveit_ros_control_interface github-ros-planning-moveit_plugins
moveit_simple_controller_manager github-ros-planning-moveit
moveit_simple_controller_manager github-ros-planning-moveit_plugins
moveit_ros_manipulation github-ros-planning-moveit
moveit_ros_manipulation github-ros-planning-moveit_ros
moveit_ros_move_group github-ros-planning-moveit
moveit_ros_move_group github-ros-planning-moveit_ros
moveit_ros_perception github-ros-planning-moveit
moveit_ros_perception github-ros-planning-moveit_ros
moveit_ros_planning github-ros-planning-moveit
moveit_ros_planning github-ros-planning-moveit_ros
moveit_runtime github-ros-planning-moveit
moveit_setup_assistant github-ros-planning-moveit
moveit_setup_assistant github-ros-planning-moveit_setup_assistant
pr2_moveit_plugins github-ros-planning-moveit_pr2
pr2_moveit_tests github-ros-planning-moveit_pr2
moveit_resources_prbt_ikfast_manipulator_plugin github-ros-planning-moveit_resources
moveit_sim_controller github-PickNikRobotics-moveit_sim_controller
moveit_sim_controller github-davetcoleman-moveit_sim_controller
moveit_tutorials github-ros-planning-moveit_tutorials
moveit_visual_tools github-ros-planning-moveit_visual_tools
moveit_visual_tools github-davetcoleman-moveit_visual_tools