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 for package moveit_core

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