Changelog for package moveit_planners_ompl

2.9.0 (2024-01-09)

• Handle unsupported position constraints in OMPL (#2417) * Handle unsupported position constraints in OMPL OMPL constrained planning assumes that all position constraints have three dimensions, meaning that they are represented by a BOX bounding volume. If another shape is used (like a SPHERE from moveit_core/kinematic_constraints/utils.hpp), the constraint adapter implementation will produce a segfault because of the lack of dimensions. This fix prevents this by checking for the required BOX type. * Add warning if more than one position primitive is used ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

• Invoke OMPL debug print only when debug logging is enabled (#2608)

• Node logging for the rest of MoveIt (#2599)

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

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

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

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

• Map ompl\'s APPROXIMATE_SOLUTION -> TIMED_OUT / PLANNING_FAILED (#2455) ompl\'s APPROXIMATE_SOLUTION is not suitable for actual execution. It just states that we got closer to the goal... The most prominent reason for an approximate solution is a timeout. Thus, return TIMED_OUT and print the used timeouts for convenience.

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

• 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: Henning Kayser, Igor Medvedev, Marq Rasmussen, Robert Haschke, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

• Fix typo in model_based_planning_context.h (#2243)

• Warn if optimization objective does not match expected values (#2213)

  • Warn if optimization objective does not match expected values

  * Update moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>

  * Format

• Contributors: Stephanie Eng

2.7.4 (2023-05-18)

• Fix Constraint Planning Segfault (#2130)

  • Fix Constraint Planning Segfault
  • Reuse planner data
  • apply clang formatting
  • apply clang formatting round 2

  * add FIXME note and verbose output of planning graph size ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

• Contributors: Marq Rasmussen

2.7.3 (2023-04-24)

• Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
• Contributors: Shobuj Paul

2.7.2 (2023-04-18)

• Update pre-commit (#2094)
• Contributors: Shobuj Paul

2.7.1 (2023-03-23)

• Fix include install destination (#2008) Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Co-authored-by: Tyler Weaver <maybe@tylerjw.dev>
• Temporarily disable TestPathConstraints with the Panda robot (#2016) This test has become flaky since it was modified to use the OMPL constrained state space (https://github.com/ros-planning/moveit2/issues/2015).

• Increase priority for constrained planning state space (#1300)

  • Change priority for the constrained planning state space
  • Fix constrained planning tests

  * Use PRM instead of RRTConnect ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • remove underscore from private members
  • fix more uses of the suffix notation

• Contributors: Abhijeet Dasgupta, AlexWebb, Stephanie Eng

2.7.0 (2023-01-29)

• converted characters from string format to character format (#1881)
• Cleanup msg includes: Use C++ instead of C header (#1844)
• Remove ancient OMPL version directives (#1825)
• Fix BSD license in package.xml (#1796)
  • fix BSD license in package.xml
  • this must also be spdx compliant
• 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)
• 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>

• 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>

• Contributors: Abhijeet Das Gupta, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Robert Haschke, Sameer Gupta

2.6.0 (2022-11-10)

• Fix logic with enforcing constrained planning state space in OMPL (#1589)
• Convert OMPL status to MoveItErrorCode in the OMPL interface (#1606)
• Factor of 2 in OMPL orientation constraints, to match kinematic_constraints (#1592)
• Merge PR #1553: Improve cmake files
• Use standard exported targets: export_\${PROJECT_NAME} -> \${PROJECT_NAME}Targets
• Improve CMake usage (#1550)
• size_t bijection index type (#1544)
• Fixes for using generate_state_database (#1412)

• simplify_solution per planning context (#1437)

  • Allowing to dynamically change the parameter simplify_solutions

  * Delete this configuration because it overrides the configuration loaded The parameters simplify_solutions is passed to the context trough the configuration of each planner but this function overrides it and seems to be contradictory to rest of the implementation. simplify_solutions shouldn\'t be considered as the rest of the other parameters, like interpolate or hybridize ? - Remove simplify_solutions_ from OMPL interface and all its setter/getter - Clean-up code without ConfigureContext and unneeded code related to simplify_solution

• correctly initialize rmw_serialized_message_t

• automatically declare parameters from overrides

• 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.

• Contributors: Alaa, AndyZe, Antoine Duplex, Henning Kayser, Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, abishalini

2.5.3 (2022-07-28)

2.5.2 (2022-07-18)

• Merge remote-tracking branch \'origin/main\' into feature/msa
• Removing more boost usage (#1372)
• Merge remote-tracking branch \'upstream/main\' into feature/msa
• Removing some boost usage (#1331) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
• Add support for mixed constraints with constrained planner (#1319) Co-authored-by: AndyZe <zelenak@picknik.ai>
• Remove unnecessary rclcpp.hpp includes (#1333)
• Print OMPL setup info at the DEBUG level (#1330)
• Port OMPL orientation constraints to MoveIt2 (#1273) Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: JeroenDM <jeroendemaeyer@live.be>
• Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
• Cleanup OMPL\'s PlanningContextManager\'s protected API
• banish bind()
• planning_context_manager: rename protected methods
• Contributors: AndyZe, David V. Lu, Henry Moore, Jafar, Jeroen De Maeyer, Michael G