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

0.8.7 (2017-04-03)

• Fix PlanarJointModel::getVariableRandomPositionsNearBy (#464)
• Contributors: Dave Coleman, Tamaki Nishino

0.8.6 (2017-03-08)

0.8.4 (2017-02-06)

• [fix] update link transforms in UnionConstraintSampler::project (#384)
• [capability Addition of Set Joint Model Group Velocities and Accelerations Functions (#402)
• [capability] time parameterization: use constants (#380)
• [enhancement] multiple shapes in an attached collision object #421
• [maintenance] Use static_cast to cast to const. (#433)
• [fix] Replace unused service dependency with msg dep (#361)
• [enhancement] Improved RobotState feedback for setFromIK() (#342)
• Contributors: Dave Coleman, Maarten de Vries, Michael Goerner, Mike Lautman, Ruben, Ian McMahon, Robert Haschke

0.8.3 (2016-08-19)

• 1st release after repository consolidation
• [fix] Add object types when requesting attached bodies in planning scene msg. pushDiff also pushes attached bodies\' types and colors
• [improve] Cache robot FCL objects to avoid fcl::CollisionObject\'s being created every time a request is made ros-planning/moveit_core#295
• [feat] Added maximum acceleration scaling factor ros-planning/moveit_core#273
• Contributors: Levi Armstrong, Dave Coleman, Christian Dornhege, hemes, Michael Goerner, Robert Haschke, Maarten de Vries

0.8.2 (2016-06-17)

• [feat] planning_scene updates: expose success state to caller. This is required to get the information back for the ApplyPlanningSceneService. #296
• [sys] replaced cmake_modules dependency with eigen
• Contributors: Michael Ferguson, Robert Haschke, Michael Goerner, Isaac I. Y. Saito

0.8.1 (2016-05-19)

• Corrected check in getStateAtDurationFromStart (cherry-picking #291 from indigo-devel)
• Contributors: Hamal Marino

0.8.0 (2016-05-18)

• [feat] Added file and trajectory_msg to RobotState conversion functions #267
• [feat] Added setJointVelocity and setJointEffort functions #261
• [feat] KinematicsBase changes #248
• [feat] added an ik_seed_state argument to the new getPositionIK(...) method
• [feat] added new interface method for computing multiple ik solutions for a single pose
• [fix] RevoluteJointModel::computeVariablePositions #282
• [fix] getStateAtDurationFromStart would never execute as the check for number of waypoints was inverted #289
• [fix] Revert \"Use libfcl-dev rosdep key in kinetic\" #287
• [fix] memory leak in RobotState::attachBody #276. Fixing #275
• [fix] New getOnlyOneEndEffectorTip() function #262
• [fix] issue #258 in jade-devel #266
• [fix] Segfault in parenthesis operator #254
• [fix] API Change of shape_tools #242
• [fix] Fixed bug in KinematicConstraintSet::decide that makes it evaluate only joint_constraints. #250
• [fix] Prevent divide by zero #246
• [fix] removed the \'f\' float specifiers and corrected misspelled method name
• [fix] typo MULTIPLE_TIPS_NO_SUPPORTED -> MULTIPLE_TIPS_NOT_SUPPORTED
• [sys] Upgrade to Eigen3 as required in Jade #293
• [sys] [cmake] Tell the compiler about FCL include dirs #263
• [sys] Install static libs #251
• [enhance] Allow a RobotTrajectory to be initialized with a pointer joint model group #245
• [doc] Better documentation and formatting #244
• Contributors: Alexis Ballier, Bastian Gaspers, Christian Dornhege, Dave Coleman, Gary Servin, Ioan A Sucan, Isaac I.Y. Saito, Jim Mainprice, Levi Armstrong, Michael Ferguson, Mihai Pomarlan, Robert Haschke, Sachin Chitta, Sam Pfeiffer, Steven Peters, S