Changelog for package moveit_ros_move_group

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

• Ports moveit1 #3689 (#3357)
  • Publish planning scene while planning (#3689)
• Contributors: Mark Johnson

2.13.0 (2025-02-15)

• Ports moveit #3676 and #3682 (#3283)
• Remove plugins from export set (#3227)
• move TrajectoryExecutionManager::clear() to private (#3226)
• Contributors: Dongya Jiang, Mark Johnson, Michael Görner, Robert Haschke, Paul Gesel

2.12.0 (2024-11-29)

• Enhancement/use hpp for headers (#3113)
• Contributors: Tom Noble

2.11.0 (2024-09-16)

• Add [SaveGeometryToFile]{.title-ref} and [LoadGeometryFromFile]{.title-ref} services (#2973)
• New implementation for computeCartesianPath() (#2916)
• Consider attached collision objects in the ComputeFK service (#2953)
• Contributors: Bilal Gill, Daniel García López, Robert Haschke

2.10.0 (2024-06-13)

• Migrate ros-planning org to moveit (#2847)
  • Rename github.com/ros-planning -> github.com/moveit
  • Rename ros-planning.github.io -> moveit.github.io
  • Rename ros-planning organization in docker and CI workflow files
  • ghcr.io/ros-planning -> ghcr.io/moveit
  • github.repository == 'moveit/*''
• Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
• Remove extraneous error message from URDF service (#2736)
• Add parameter api integration test (#2662)
• CMake format and lint in pre-commit (#2683)
• Get robot description from topic in GetUrdfService (#2681)
• Fix bug in GetUrdfService move_group capability (#2669)
  • Take both possible closings for links into account
  • Make CI happy
• avoid a relative jump threshold of 0.0 (#2654)
• Add get group urdf capability (#2649)
• Contributors: Abishalini Sivaraman, Ezra Brooks, Mario Prats, Robert Haschke, Sebastian Jahr, Tyler Weaver

2.9.0 (2024-01-09)

• Fix warning and cleanup unneeded placeholders (#2566)
  • Fix warning and cleanup unneeded placeholders
  • Make clang-tidy happy
  • Remove print statement
• [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
  • Enable chaining multiple planners
• Node logging in moveit_core (#2503)
• [Planning Pipeline Refactoring] #1 Simplify Adapter - Planner chain (#2429)
• Factor out path joint-space jump check (#2506)
• Use node logging in moveit_ros (#2482)
• Add new clang-tidy style rules (#2177)
• Use generate parameters library in PlanningPipelineClass + general cleanups (#2288)
  • Don't discard stuff
  • Move constants into source file
  • Move static consts into header
  • Don't ignore pipeline result
  • Use generate parameter library for planning pipeline parameters
  • Fix CI
  • More CI fixes
  • Remove more state from planning pipeline
  • Small cleanups
  • Assert planner_instance_ is not a nullptr
  • Remove valid variable
  • Simplify logic for trajectory printing
  • More helpful comments
  • Small logic simplification by using break
  • Fix clang-tidy
  • Pre-commit + Deprecate functions instead of removing them
  • Fix CI
• Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
• Remove old deprecated functions (#2384)
• Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
• Contributors: Mario Prats, Marq Rasmussen, Rayene Messaoud, Sebastian Jahr, Tyler Weaver

2.8.0 (2023-09-10)

• Replaced boost::algorithm::join with fmt::join (#2273)
  • Replaced boost::algorithm::join with fmt::join
  • Made changes in CMakeLists.txt to accomodate fmt
  • Updated package.xml files
  • removed redundant boost dependencies

  * Rename variables -> variable ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

• Specify controller name in MGI execution (#2257)
  • Specify controller name in MGI execute

  * Finish comment ---------Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

• fix move_group capabilities loading (#2270)
  • fix move_group capabilities loading
  • clang-format
• Cleanup move_group CMake (#2226)
• Contributors: Shobuj Paul, Stephanie Eng, Tyler Weaver, Yang Lin

2.7.4 (2023-05-18)

• Fix MoveGroup action cancel callback (#2118) Moves the execution callback into its own thread to avoid blocking and actually calls the preempt function in with the cancel callback.
• Scale acceleration and velocity of cartesian interpolations (#1968)
• Contributors: Jonathan Grebe, Yadu

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)

• Fix MoveItCpp issues (port from MoveIt1) (#2001) * Fix MoveitCpp's const member accessors They should return a ConstPtr instead of a const Ptr&!
  • Fix SEVERE ClassLoader warning when releasing MoveItCpp
  • PSM was released before copy of its RobotModel -> removed extra RobotModel copy
  • clearContents() was broken:
  • resets in wrong order: psm_ should be last

  - trajectory_execution_manager_ was missing I suggest to omit clearContents() and rely on the (correct) ordering of member variables. While this is not explicit, we ensure that we don't miss any newly added member variable. Fix: https://github.com/ros-planning/moveit2/issues/1597 ---------Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>> Co-authored-by: Jafar <<cafer.abdi@gmail.com>> Co-authored-by: Sebastian Jahr <<sebastian.jahr@tuta.io>> Co-authored-by: JafarAbdi <<jafar.uruc@gmail.com>>

• Contributors: Robert Haschke

2.7.1 (2023-03-23)

• Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming 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: AlexWebb, Robert Haschke

2.7.0 (2023-01-29)

• move_group: Delete unused execute_trajectory_service_capability (#1836)
• keep printf color change on same line (#1828) This ensures the color reset is applied because printing the color reset after new lines seems to preven the color from actually being reset. Co-authored-by: William Wedler <<william.wedler@resquared.com>>
• Fix BSD license in package.xml (#1796)
  • fix BSD license in package.xml
  • this must also be spdx compliant
• Add braces around blocks. (#999)
• 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, AndyZe, Christian Henkel, Cory Crean, Robert Haschke, Will

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>>

• avoid implicit conversions (#1593)
• Remove unused header (#1572)
• Merge PR #1553: Improve cmake files
• Use standard exported targets: export_${PROJECT_NAME} -> ${PROJECT_NAME}Targets
• Improve CMake usage (#1550)
• Removed plan_with_sensing (#1142)
• Remove __has_include statements (#1481)
• Contributors: Abishalini Sivaraman, Robert Haschke, Sarah Nix, Sebastian Jahr, Stephanie Eng, Vatan Aksoy Tezer

2.5.3 (2022-07-28)

2.5.2 (2022-07-18)

• Merge pull request #1402 from Abishalini/pr-sync-a436a97 Sync with MoveIt
• Merge https://github.com/ros-planning/moveit/commit/a436a9771f7445c162cc3090c4c7c57bdb5bf194
• Merge remote-tracking branch 'origin/main' into feature/msa
• Remove manipulation from moveit_ros (#1177)
• Merge pull request #3137 from TAMS-Group/pr-master-monitor-dynamics move_group can optionally monitor dynamics
• optionally enable dynamics monitoring in move_group node
• convert move_group to LOGNAME
• Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
• banish bind()
• Contributors: Abishalini, Michael Görner, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, v4hn

2.5.1 (2022-05-31)

2.5.0 (2022-05-26)

• Merge https://github.com/ros-planning/moveit/commit/72d919299796bffc21f5eb752d66177841dc3442
• Enable cppcheck (#1224) Co-authored-by: jeoseo <<jeongwooseo2012@gmail.com>>
• Make TOTG the default time-parameterization algorithm everywhere (#1218) Co-authored-by: Jafar <<cafer.abdi@gmail.com>>
• Make moveit_common a 'depend' rather than 'build_depend' (#1226)
• Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
• banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
• Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039
• 1.1.9
• Fix missing include (#3051)
• 1.1.8
• Improve loading of planning pipelines (#3036) Ensure that planning pipelines considered in [~/planning_pipelines/*]{.title-ref} actually have a [planning_plugin]{.title-ref} parameter defined. Otherwise, issue an error message.
• Remove unused parameters. (#1018) Co-authored-by: Tyler Weaver <<tyler@picknik.ai>> Co-authored-by: Vatan Aksoy Tezer <<vatan@picknik.ai>>
• 1.1.7

• Switch to std::bind (#2967) * boost::bind -> std::bind grep -rlI --exclude-dir=.git "boost::bind" | xargs sed -i 's/boost::bind/std::bind/g' * Convert bind placeholders grep -rlI --exclude-dir=.git " _[0-9]" | xargs sed -i 's/ _([0-9])/ std::placeholders::_1/g' * Update bind include header grep -rlI --exclude-dir=.git "boost/bind" | xargs sed -i 's#boost/bind.hpp#functional#'

• 1.1.6
• Contributors: Abishalini, AndyZe, Cory Crean, Henning Kayser, Jafar, Jochen Sprickerhof, Robert Haschke, Tobias Fischer, jeoseo, v4hn

2.4.0 (2022-01-20)

• moveit_build_options() Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE, and compiler options (namely warning flags) once. Each package depending on moveit_core can use these via moveit_build_options().
• Contributors: Robert Haschke

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

• Add codespell to precommit, fix A LOT of spelling mistakes (#934)
• Get rid of "std::endl" (#918)
• Consider simulated time (#883)
• Enforce package.xml format 3 Schema (#779)
• Update Maintainers of MoveIt package (#697)
• clang-tidy: modernize-make-shared, modernize-make-unique (#2762)
• Contributors: Dave Coleman, David V. Lu!!, Felix von Drigalski, Gaël Écorchard, Henning Kayser, Parthasarathy Bana, Robert Haschke, pvanlaar

2.3.0 (2021-10-08)

• Fix warnings in Galactic and Rolling (#598)
  • Use __has_includes preprocessor directive for deprecated headers
  • Fix parameter template types
  • Proper initialization of smart pointers, rclcpp::Duration
• Contributors: Vatan Aksoy Tezer

2.2.1 (2021-07-12)

2.2.0 (2021-06-30)

• Fix deprecated planner namespace in MoveGroup (#524)
• [sync] MoveIt's master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4
  • Support multiple planning pipelines with MoveGroup via MoveItCpp (#2127)
  • Fix missing isEmpty check in compute_ik service (#2544)
• Contributors: Henning Kayser, Jafar Abdi, JafarAbdi, Michael Görner, Robert Haschke, Tyler Weaver

2.1.4 (2021-05-31)

2.1.3 (2021-05-22)

2.1.2 (2021-04-20)

2.1.1 (2021-04-12)

• Fix EXPORT install in CMake (#372)
• TfPublisher: tf frame name can't start with '/'
• [fix] Export libs for MoveGroup capabilities and MoveItSimpleControllerManager (#344)
• Fix repo URLs in package.xml files
• Contributors: Boston Cleek, Henning Kayser, Jafar Abdi, Tyler Weaver

2.1.0 (2020-11-23)

• [fix] Interactive markers not visible in motion planning plugin (#299)
• [fix] Rosdep dependencies ros_testing, OpenMP (#309)
• [maint] Remove deprecated namespaces robot_model, robot_state (#276)
• [maint] Wrap common cmake code in 'moveit_package()' macro (#285)
  • New moveit_package() macro for compile flags, Windows support etc
  • Add package 'moveit_common' as build dependency for moveit_package()
  • Added -Wno-overloaded-virtual compiler flag for moveit_ros_planners_ompl
• [maint] Compilation fixes for macOS (#271)
• [ros2-migration] Enable warehouse in moveit_ros_benchmarks (#301)
• [ros2-migration] Port moveit_ros_warehouse to ROS 2 (#273)
• [ros2-migration] Port moveit_ros_benchmarks to ROS 2 (#225)
• [ros2-migration] Port moveit_group to ROS 2 (#217)
• Contributors: Abdullah Alzaidy, Edwin Fan, Henning Kayser, Jafar Abdi, Lior Lustgarten, Yu Yan

1.1.1 (2020-10-13)

• [fix] Let the max number of contacts be the amount of world objects + link models with geometry (#2355)
• [maint] Add comment to MOVEIT_CLASS_FORWARD (#2315)
• Contributors: Felix von Drigalski, Loy van Beek, Michael Görner, v4hn

1.1.0 (2020-09-04)

• [feature] Start new joint_state_publisher_gui on param use_gui (#2257)
• [feature] TfPublisher: fixup and add attached collsion objects (#1792)
• [feature] move_group capability for publishing planning scene frames to the tf system (#1761)
• [feature] get_planning_scene_service: return full scene when nothing was requested (#1424)
• [feature] Separate source file for CartesianInterpolator (#1149)
• [fix] Various fixes for upcoming Noetic release (#2180)
• [fix] Fix TfPublisher subframe publishing (#2002)
• [maint] Fix compiler warnings (#1773)
• [maint] clang-tidy fixes (#2050) (#2004, #1419)
• [maint] Optional cpp version setting (#2166)
• [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
• [maint] Move isEmpty() test functions to moveit_core/utils (#1627)
• [maint] Switch from include guards to pragma once (#1615)
• [maint] Remove ! from MoveIt name (#1590)
• Contributors: Dave Coleman, Mike Lautman, Robert Haschke, Felix von Drigalski, Jens P, Jonathan Binney, JonasTietz, Michael Görner, Tyler Weaver, Yoan Mollard, Yu, Yan, v4hn

1.0.6 (2020-08-19)

• [maint] Adapt repository for splitted moveit_resources layout (#2199)
• [maint] Migrate to clang-format-10
• Contributors: Robert Haschke, Michael Görner

1.0.5 (2020-07-08)

1.0.4 (2020-05-30)

1.0.3 (2020-04-26)

• [maint] Move [get_planning_scene]{.title-ref} service into [PlanningSceneMonitor]{.title-ref} for reusability (#1854)
• [maint] Cleanup move_group capabilities (#1515)
• [maint] Apply clang-tidy fix to entire code base (#1394)
• [maint] Fix errors: catkin_lint 1.6.7 (#1987)
• [maint] Windows build: Fix binary artifact install locations. (#1575)
• [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (#1607)
• Contributors: Robert Haschke, Sean Yen, Yu, Yan

1.0.2 (2019-06-28)

1.0.1 (2019-03-08)

• [improve] Apply clang tidy fix to entire code base (Part 1) (#1366)
• Contributors: Yu, Yan

1.0.0 (2019-02-24)

• [fix] catkin_lint issues (#1341)
• [improve] Remove (redundant) random seeding and #attempts from RobotState::setFromIK() as the IK solver perform random seeding themselves. #1288
• Contributors: Robert Haschke

0.10.8 (2018-12-24)

0.10.7 (2018-12-13)

0.10.6 (2018-12-09)

• [fix] Fixed various memory leaks (#1104)
• [maintenance] Replaced Eigen::Affine3d -> Eigen::Isometry3d (#1096)
• [maintenance] Code Cleanup
  • #1180
  • #1196
• Contributors: Dave Coleman, Robert Haschke

0.10.2 (2018-10-24)

• [fix] PlanningSceneMonitor lock #1033: Fix #868 (#1057)
• [maintenance] various compiler warnings (#1038)
• [maintenance] add minimum required pluginlib version (#927)
• Contributors: Mikael Arguedas, Mohmmad Ayman, Robert Haschke, mike lautman

0.10.1 (2018-05-25)

• Remove deprecated ExecuteTrajectoryServiceCapability (#833)
• migration from tf to tf2 API (#830)
• Add namespace capabilities to moveit_commander (#835)
• [fix] MoveAction capability can drop cancel request if it is sent shortly after goal is sent (#756)
• Contributors: Dave Coleman, Ian McMahon, Mikael Arguedas, Robert Haschke, Will Baker

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

• [fix] always return true in MoveGroupPlanService callback #674
• [improve] adding swp's to gitignore and removing redundant capabilites from capability_names.h (#704)
• Contributors: Mike Lautman, Shingo Kitagawa

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

• [fix][moveit_ros_warehouse] gcc6 build error #423
• [enhancement] Remove "catch (...)" instances, catch std::exception instead of std::runtime_error (#445)
• Contributors: Bence Magyar, Dave Coleman

0.9.4 (2017-02-06)

• [fix] race conditions when updating PlanningScene (#350)
• [maintenance] clang-format upgraded to 3.8 (#367)
• Contributors: Dave Coleman, Robert Haschke

0.9.3 (2016-11-16)

• [maintenance] Updated package.xml maintainers and author emails #330
• Contributors: Dave Coleman, Ian McMahon

0.9.2 (2016-11-05)

0.6.6 (2016-06-08)

• added missing validity check iterator found with [configs.find()]{.title-ref} needs to be validated before use...
• Removed trailing whitespace from entire repository
• moved planner params services into existing capability QueryPlannerInterfaces
• capability plugin MoveGroupPlannerParamsService to get/set planner params
• Fixed bug(?) in move_group::MoveGroupKinematicsService::computeIK link name selection.
• Contributors: Dave Coleman, Mihai Pomarlan, Robert Haschke

0.6.5 (2015-01-24)

• update maintainers
• Contributors: Michael Ferguson

0.6.4 (2014-12-20)

0.6.3 (2014-12-03)

0.6.2 (2014-10-31)

• Merge pull request #522 from mikeferguson/indigo-devel add dependency on std_srvs (part of octomap clearing service)
• Contributors: Ioan A Sucan, Michael Ferguson

0.6.1 (2014-10-31)

0.6.0 (2014-10-27)

• Added move_group capability for clearing octomap.
• Contributors: Dave Hershberger, Sachin Chitta

0.5.19 (2014-06-23)

• Address [cppcheck: duplicateIf] error. The same condition was being checked twice, and the same action was being taken.
• Contributors: Adolfo Rodriguez Tsouroukdissian

0.5.18 (2014-03-23)

0.5.17 (2014-03-22)

• update maintainer e-mail
• Contributors: Ioan Sucan

0.5.16 (2014-02-27)

• empty state should be a diff state, otherwise attached objects are deleted
• Contributors: sachinc

0.5.14 (2014-02-06)

0.5.13 (2014-02-06)

0.5.12 (2014-01-03)

0.5.11 (2014-01-03)

0.5.10 (2013-12-08)

0.5.9 (2013-12-03)

• Re-ordered movegroup's initialization, so capabilities start after monitors.
• correcting maintainer email
• Added planning feedback to gui, refactored states tab

0.5.8 (2013-10-11)

0.5.7 (2013-10-01)

0.5.6 (2013-09-26)

0.5.5 (2013-09-23)

• porting to new RobotState API
• more console output

0.5.4 (2013-08-14)

• make headers and author definitions aligned the same way; white space fixes
• Dependency for move_group_capabilities_base fixed.

0.5.2 (2013-07-15)

0.5.1 (2013-07-14)

0.5.0 (2013-07-12)

• white space fixes (tabs are now spaces)
• port to new base class for planning_interface (using planning contexts)

0.4.5 (2013-07-03)

• Fixed for moveit_msgs/JointLimits.h no such file or directory

0.4.4 (2013-06-26)

• fix #259 and #260.