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 2024-03-15
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

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

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

2.9.0 (2024-01-09)

  • [PSM] Process collision object color when adding object trough the planning scene monitor (#2567)
    • Added an optional Collision Object color object to set the coller of the collision object when adding the collision object trough the PSM.
    • Fixes for clang-tidy warnings
    • fix pre-commit
    • Pass by reference
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Node logging for the rest of MoveIt (#2599)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Node logging in moveit_core (#2503)
  • Fix trajectory execution manager comments for docs builds (#2563)
  • Change default topic name for display contacts (#2561)
  • [PSM] Add proccess Collision Object to PSM and request planning scene to moveit py to allow syncing of mutliple PSM (#2536)

    • PlanningSceneMonitor and request planning scene to moveit py to allow syncing of multiple planning scene monitors
    • pre-commit fixes

    * Update moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp First catch empty scene to not have a unneeded indents. Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Removed unneeded callback functions ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Use node logging in moveit_ros (#2482)

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

  • Re-enable waiting for current state in MoveItCpp (#2419)

  • Protect against zero frequency in TrajectoryMonitorMiddlewareHandler (#2423)

  • Small planning pipeline class fixes (#2416)

  • 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)

  • [PSM] Get the parameter values of the main node when declaring them in the private node. (#2392)

    • Get the values of the main node when declaring them in the private node.
    • [chore] linting
    • Removed logging
    • Update formatting

    * Removed whitespace ---------

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

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Abishalini Sivaraman, Henning Kayser, Jens Vanhooydonck, Marq Rasmussen, Rayene Messaoud, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

  • Remove added path index from planner adapter function signature (#2285)
  • 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>

  • Replaced numbers with SystemDefaultsQos() (#2271)

  • 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>

  • Prefer to use the active controller if multiple controllers apply (#2251)

  • Don\'t default to random algorithm if no plugin is defined (#2228)

    • Don\'t default to random algorithm if no plugin is defined
    • Simplify selection logic & initialize default values in constructor
    • Increase message severity
  • Always set response planner id and warn if it is not set (#2236)

  • Suppress redundant error message in CSM (#2222) The CSM would spam the log if /joint_states messages includes unkonwn joints. RobotModel::hasJointModel() allows for verifying joint names in a safe way without the error message.

  • Minor cleanup to ros_control_interface and trajectory execution (#2208)

  • Ensure that planning pipeline id is set (#2202)

  • Add \@brief descriptions for plan_request_adapters (#2185)

  • Make loggers static or move into anonymous namespace (#2184)

    • Make loggers static or move into anonymous namespace
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Move LOGGER out of class template
  • Contributors: Henning Kayser, Sebastian Jahr, Shobuj Paul, Stephanie Eng

2.7.4 (2023-05-18)

  • Update default planning configs to use AddTimeOptimalParameterization (#2167)
  • Deprecate MoveItCpp::execute() use of blocking flag (#1984)
  • Contributors: Anthony Baker, Lucas Wendland

2.7.3 (2023-04-24)

  • Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (#2135)
  • Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
  • Contributors: Jafar, Shobuj Paul

2.7.2 (2023-04-18)

  • Switch from qos_event.hpp to event_handler.hpp (#2111)

    • Switch from qos_event.hpp to event_handler.hpp
    • moveit_common: Add a cmake interface library to keep humble support on main
    • Include qos_event.hpp or event_handler.hpp depending on the ROS 2 version
    • Fix ament_lint_cmake
    • Fix clang-tidy
    • PRIVATE linking in some cases

    * Update moveit_common/cmake/moveit_package.cmake Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com> - Fix servo and cleanup excessive CMake variable usage - Cleanup & make compiling - Small variable naming and const cleanup - Restore OpenCV linking - Public/private linking fixup

    * Revert \"Restore OpenCV linking\" This reverts commit 57a9efa806e59223e35a1f7e998d7b52f930c263. ---------Co-authored-by: JafarAbdi <jafar.uruc@gmail.com> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com>

  • 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>

  • Extract parallel planning from moveit cpp (#2043)

    • Add parallel_planning_interface
    • Add parallel planning interface
    • Rename package to pipeline_planning_interface
    • Move plan_responses_container into own header + source file
    • Add plan_responses_contrainer source file
    • Add solution selection and stopping criterion function files
    • Remove parallel planning from moveit_cpp
    • Move parallel planning into planning package
    • Update moveit_cpp
    • Drop planning_interface changes
    • Add documentation
    • Update other moveit packages
    • Remove removed header
    • Address CI complains
    • Address clang-tidy complains
    • Address clang-tidy complains 2
    • Address clang-tidy complains 3
    • Extract planning pipeline map creation function from moveit_cpp
    • Cleanup comment
    • Use const moveit::core::RobotModelConstPtr&
    • Formatting
    • Add header descriptions
    • Remove superfluous TODOs
    • Cleanup
  • Move displaced launch file into planning_component_tools (#2044)

  • Contributors: Robert Haschke, Sebastian Jahr

2.7.1 (2023-03-23)

2.7.0 (2023-01-29)

  • converted characters from string format to character format (#1881)
  • Add a default stopping criterion for parallel planning (#1876)
    • Add a default callback for parallel planning termination
    • Delete long-deprecated \"using\"
    • A new translation unit for the new callback
    • inline
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Do not allow traj execution from PlanningComponent (#1835)
    • Do not allow traj execution from PlanningComponent
    • Deprecate, don\'t delete
    • Get the group_name from RobotTrajectory
    • Rebase
  • Add optional list of controllers to MoveItCpp::execute() (#1838)
    • Add optional list of controllers
    • The default is an empty vector
  • 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>

  • No default IK solver (#1816)

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

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • 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
  • 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>

  • 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_.

  • 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, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Robert Haschke, Sameer Gupta, 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>

  • Fixup for #1420: Restore constness of generatePlan() (#1699)

  • 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>

  • Fixed typo in deprecation warning in ControllerManager (#1688)

    • fixed typo as suggested by \@AndyZe

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

  • 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
  • Rename MoveItControllerManager. Add deprecation warning (#1601)

    • Rename MoveItControllerManager->Ros2ControlManager. Add deprecation warning.
    • Do not rename base class

    * Still allow users to load plugins by the old names Co-authored-by: Jafar <jafar.uruc@gmail.com>

  • Use generate_parameter_library to load kinematics parameters (#1568)

  • Merge PR #1553: Improve cmake files

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

  • Improve CMake usage (#1550)

  • Disable flaky test_servo_singularity + test_rdf_integration (#1530)

  • Remove sensor manager (#1172)

  • Removed plan_with_sensing (#1142)

  • Remove __has_include statements (#1481)

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

  • Default destructor for PlanningComponent (#1470)

  • trajectory execution manager: reactivate tests (#3177)

  • Clean up TrajectoryExecutionManager API: remove unused code (#3178)

    • Clean up unused code

    * Add a comment to MIGRATION.md Co-authored-by: Cristian Beltran <cristianbehe@gmail.com>

  • Merge PR #3172: Fix CI

  • Load robot_description via planning_context.launch

  • TrajectoryExecutionManager: Use local LOGNAME instead of member name_ (#3168)

  • Contributors: Abhijeet Das Gupta, Abishalini Sivaraman, AndyZe, Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel

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>
  • Remove unnecessary rclcpp.hpp includes (#1333)
  • Add missing headers
  • MoveItCpp: Allow multiple pipelines (#3131)
    • Fix config of multiple pipelines
    • Simply MoveItCpp::getPlanningPipelineNames()
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • banish bind()
  • various: prefer objects and references over pointers
  • Contributors: David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

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Recent questions tagged moveit_ros_planning 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 2024-03-15
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

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

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

2.9.0 (2024-01-09)

  • [PSM] Process collision object color when adding object trough the planning scene monitor (#2567)
    • Added an optional Collision Object color object to set the coller of the collision object when adding the collision object trough the PSM.
    • Fixes for clang-tidy warnings
    • fix pre-commit
    • Pass by reference
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Node logging for the rest of MoveIt (#2599)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Node logging in moveit_core (#2503)
  • Fix trajectory execution manager comments for docs builds (#2563)
  • Change default topic name for display contacts (#2561)
  • [PSM] Add proccess Collision Object to PSM and request planning scene to moveit py to allow syncing of mutliple PSM (#2536)

    • PlanningSceneMonitor and request planning scene to moveit py to allow syncing of multiple planning scene monitors
    • pre-commit fixes

    * Update moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp First catch empty scene to not have a unneeded indents. Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Removed unneeded callback functions ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Use node logging in moveit_ros (#2482)

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

  • Re-enable waiting for current state in MoveItCpp (#2419)

  • Protect against zero frequency in TrajectoryMonitorMiddlewareHandler (#2423)

  • Small planning pipeline class fixes (#2416)

  • 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)

  • [PSM] Get the parameter values of the main node when declaring them in the private node. (#2392)

    • Get the values of the main node when declaring them in the private node.
    • [chore] linting
    • Removed logging
    • Update formatting

    * Removed whitespace ---------

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

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Abishalini Sivaraman, Henning Kayser, Jens Vanhooydonck, Marq Rasmussen, Rayene Messaoud, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

  • Remove added path index from planner adapter function signature (#2285)
  • 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>

  • Replaced numbers with SystemDefaultsQos() (#2271)

  • 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>

  • Prefer to use the active controller if multiple controllers apply (#2251)

  • Don\'t default to random algorithm if no plugin is defined (#2228)

    • Don\'t default to random algorithm if no plugin is defined
    • Simplify selection logic & initialize default values in constructor
    • Increase message severity
  • Always set response planner id and warn if it is not set (#2236)

  • Suppress redundant error message in CSM (#2222) The CSM would spam the log if /joint_states messages includes unkonwn joints. RobotModel::hasJointModel() allows for verifying joint names in a safe way without the error message.

  • Minor cleanup to ros_control_interface and trajectory execution (#2208)

  • Ensure that planning pipeline id is set (#2202)

  • Add \@brief descriptions for plan_request_adapters (#2185)

  • Make loggers static or move into anonymous namespace (#2184)

    • Make loggers static or move into anonymous namespace
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Move LOGGER out of class template
  • Contributors: Henning Kayser, Sebastian Jahr, Shobuj Paul, Stephanie Eng

2.7.4 (2023-05-18)

  • Update default planning configs to use AddTimeOptimalParameterization (#2167)
  • Deprecate MoveItCpp::execute() use of blocking flag (#1984)
  • Contributors: Anthony Baker, Lucas Wendland

2.7.3 (2023-04-24)

  • Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (#2135)
  • Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
  • Contributors: Jafar, Shobuj Paul

2.7.2 (2023-04-18)

  • Switch from qos_event.hpp to event_handler.hpp (#2111)

    • Switch from qos_event.hpp to event_handler.hpp
    • moveit_common: Add a cmake interface library to keep humble support on main
    • Include qos_event.hpp or event_handler.hpp depending on the ROS 2 version
    • Fix ament_lint_cmake
    • Fix clang-tidy
    • PRIVATE linking in some cases

    * Update moveit_common/cmake/moveit_package.cmake Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com> - Fix servo and cleanup excessive CMake variable usage - Cleanup & make compiling - Small variable naming and const cleanup - Restore OpenCV linking - Public/private linking fixup

    * Revert \"Restore OpenCV linking\" This reverts commit 57a9efa806e59223e35a1f7e998d7b52f930c263. ---------Co-authored-by: JafarAbdi <jafar.uruc@gmail.com> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com>

  • 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>

  • Extract parallel planning from moveit cpp (#2043)

    • Add parallel_planning_interface
    • Add parallel planning interface
    • Rename package to pipeline_planning_interface
    • Move plan_responses_container into own header + source file
    • Add plan_responses_contrainer source file
    • Add solution selection and stopping criterion function files
    • Remove parallel planning from moveit_cpp
    • Move parallel planning into planning package
    • Update moveit_cpp
    • Drop planning_interface changes
    • Add documentation
    • Update other moveit packages
    • Remove removed header
    • Address CI complains
    • Address clang-tidy complains
    • Address clang-tidy complains 2
    • Address clang-tidy complains 3
    • Extract planning pipeline map creation function from moveit_cpp
    • Cleanup comment
    • Use const moveit::core::RobotModelConstPtr&
    • Formatting
    • Add header descriptions
    • Remove superfluous TODOs
    • Cleanup
  • Move displaced launch file into planning_component_tools (#2044)

  • Contributors: Robert Haschke, Sebastian Jahr

2.7.1 (2023-03-23)

2.7.0 (2023-01-29)

  • converted characters from string format to character format (#1881)
  • Add a default stopping criterion for parallel planning (#1876)
    • Add a default callback for parallel planning termination
    • Delete long-deprecated \"using\"
    • A new translation unit for the new callback
    • inline
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Do not allow traj execution from PlanningComponent (#1835)
    • Do not allow traj execution from PlanningComponent
    • Deprecate, don\'t delete
    • Get the group_name from RobotTrajectory
    • Rebase
  • Add optional list of controllers to MoveItCpp::execute() (#1838)
    • Add optional list of controllers
    • The default is an empty vector
  • 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>

  • No default IK solver (#1816)

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

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • 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
  • 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>

  • 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_.

  • 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, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Robert Haschke, Sameer Gupta, 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>

  • Fixup for #1420: Restore constness of generatePlan() (#1699)

  • 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>

  • Fixed typo in deprecation warning in ControllerManager (#1688)

    • fixed typo as suggested by \@AndyZe

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

  • 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
  • Rename MoveItControllerManager. Add deprecation warning (#1601)

    • Rename MoveItControllerManager->Ros2ControlManager. Add deprecation warning.
    • Do not rename base class

    * Still allow users to load plugins by the old names Co-authored-by: Jafar <jafar.uruc@gmail.com>

  • Use generate_parameter_library to load kinematics parameters (#1568)

  • Merge PR #1553: Improve cmake files

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

  • Improve CMake usage (#1550)

  • Disable flaky test_servo_singularity + test_rdf_integration (#1530)

  • Remove sensor manager (#1172)

  • Removed plan_with_sensing (#1142)

  • Remove __has_include statements (#1481)

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

  • Default destructor for PlanningComponent (#1470)

  • trajectory execution manager: reactivate tests (#3177)

  • Clean up TrajectoryExecutionManager API: remove unused code (#3178)

    • Clean up unused code

    * Add a comment to MIGRATION.md Co-authored-by: Cristian Beltran <cristianbehe@gmail.com>

  • Merge PR #3172: Fix CI

  • Load robot_description via planning_context.launch

  • TrajectoryExecutionManager: Use local LOGNAME instead of member name_ (#3168)

  • Contributors: Abhijeet Das Gupta, Abishalini Sivaraman, AndyZe, Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel

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>
  • Remove unnecessary rclcpp.hpp includes (#1333)
  • Add missing headers
  • MoveItCpp: Allow multiple pipelines (#3131)
    • Fix config of multiple pipelines
    • Simply MoveItCpp::getPlanningPipelineNames()
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • banish bind()
  • various: prefer objects and references over pointers
  • Contributors: 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 2024-03-15
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

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

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

2.9.0 (2024-01-09)

  • [PSM] Process collision object color when adding object trough the planning scene monitor (#2567)
    • Added an optional Collision Object color object to set the coller of the collision object when adding the collision object trough the PSM.
    • Fixes for clang-tidy warnings
    • fix pre-commit
    • Pass by reference
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Node logging for the rest of MoveIt (#2599)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Node logging in moveit_core (#2503)
  • Fix trajectory execution manager comments for docs builds (#2563)
  • Change default topic name for display contacts (#2561)
  • [PSM] Add proccess Collision Object to PSM and request planning scene to moveit py to allow syncing of mutliple PSM (#2536)

    • PlanningSceneMonitor and request planning scene to moveit py to allow syncing of multiple planning scene monitors
    • pre-commit fixes

    * Update moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp First catch empty scene to not have a unneeded indents. Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Removed unneeded callback functions ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Use node logging in moveit_ros (#2482)

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

  • Re-enable waiting for current state in MoveItCpp (#2419)

  • Protect against zero frequency in TrajectoryMonitorMiddlewareHandler (#2423)

  • Small planning pipeline class fixes (#2416)

  • 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)

  • [PSM] Get the parameter values of the main node when declaring them in the private node. (#2392)

    • Get the values of the main node when declaring them in the private node.
    • [chore] linting
    • Removed logging
    • Update formatting

    * Removed whitespace ---------

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

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Abishalini Sivaraman, Henning Kayser, Jens Vanhooydonck, Marq Rasmussen, Rayene Messaoud, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

  • Remove added path index from planner adapter function signature (#2285)
  • 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>

  • Replaced numbers with SystemDefaultsQos() (#2271)

  • 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>

  • Prefer to use the active controller if multiple controllers apply (#2251)

  • Don\'t default to random algorithm if no plugin is defined (#2228)

    • Don\'t default to random algorithm if no plugin is defined
    • Simplify selection logic & initialize default values in constructor
    • Increase message severity
  • Always set response planner id and warn if it is not set (#2236)

  • Suppress redundant error message in CSM (#2222) The CSM would spam the log if /joint_states messages includes unkonwn joints. RobotModel::hasJointModel() allows for verifying joint names in a safe way without the error message.

  • Minor cleanup to ros_control_interface and trajectory execution (#2208)

  • Ensure that planning pipeline id is set (#2202)

  • Add \@brief descriptions for plan_request_adapters (#2185)

  • Make loggers static or move into anonymous namespace (#2184)

    • Make loggers static or move into anonymous namespace
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Move LOGGER out of class template
  • Contributors: Henning Kayser, Sebastian Jahr, Shobuj Paul, Stephanie Eng

2.7.4 (2023-05-18)

  • Update default planning configs to use AddTimeOptimalParameterization (#2167)
  • Deprecate MoveItCpp::execute() use of blocking flag (#1984)
  • Contributors: Anthony Baker, Lucas Wendland

2.7.3 (2023-04-24)

  • Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (#2135)
  • Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
  • Contributors: Jafar, Shobuj Paul

2.7.2 (2023-04-18)

  • Switch from qos_event.hpp to event_handler.hpp (#2111)

    • Switch from qos_event.hpp to event_handler.hpp
    • moveit_common: Add a cmake interface library to keep humble support on main
    • Include qos_event.hpp or event_handler.hpp depending on the ROS 2 version
    • Fix ament_lint_cmake
    • Fix clang-tidy
    • PRIVATE linking in some cases

    * Update moveit_common/cmake/moveit_package.cmake Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com> - Fix servo and cleanup excessive CMake variable usage - Cleanup & make compiling - Small variable naming and const cleanup - Restore OpenCV linking - Public/private linking fixup

    * Revert \"Restore OpenCV linking\" This reverts commit 57a9efa806e59223e35a1f7e998d7b52f930c263. ---------Co-authored-by: JafarAbdi <jafar.uruc@gmail.com> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com>

  • 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>

  • Extract parallel planning from moveit cpp (#2043)

    • Add parallel_planning_interface
    • Add parallel planning interface
    • Rename package to pipeline_planning_interface
    • Move plan_responses_container into own header + source file
    • Add plan_responses_contrainer source file
    • Add solution selection and stopping criterion function files
    • Remove parallel planning from moveit_cpp
    • Move parallel planning into planning package
    • Update moveit_cpp
    • Drop planning_interface changes
    • Add documentation
    • Update other moveit packages
    • Remove removed header
    • Address CI complains
    • Address clang-tidy complains
    • Address clang-tidy complains 2
    • Address clang-tidy complains 3
    • Extract planning pipeline map creation function from moveit_cpp
    • Cleanup comment
    • Use const moveit::core::RobotModelConstPtr&
    • Formatting
    • Add header descriptions
    • Remove superfluous TODOs
    • Cleanup
  • Move displaced launch file into planning_component_tools (#2044)

  • Contributors: Robert Haschke, Sebastian Jahr

2.7.1 (2023-03-23)

2.7.0 (2023-01-29)

  • converted characters from string format to character format (#1881)
  • Add a default stopping criterion for parallel planning (#1876)
    • Add a default callback for parallel planning termination
    • Delete long-deprecated \"using\"
    • A new translation unit for the new callback
    • inline
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Do not allow traj execution from PlanningComponent (#1835)
    • Do not allow traj execution from PlanningComponent
    • Deprecate, don\'t delete
    • Get the group_name from RobotTrajectory
    • Rebase
  • Add optional list of controllers to MoveItCpp::execute() (#1838)
    • Add optional list of controllers
    • The default is an empty vector
  • 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>

  • No default IK solver (#1816)

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

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • 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
  • 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>

  • 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_.

  • 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, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Robert Haschke, Sameer Gupta, 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>

  • Fixup for #1420: Restore constness of generatePlan() (#1699)

  • 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>

  • Fixed typo in deprecation warning in ControllerManager (#1688)

    • fixed typo as suggested by \@AndyZe

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

  • 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
  • Rename MoveItControllerManager. Add deprecation warning (#1601)

    • Rename MoveItControllerManager->Ros2ControlManager. Add deprecation warning.
    • Do not rename base class

    * Still allow users to load plugins by the old names Co-authored-by: Jafar <jafar.uruc@gmail.com>

  • Use generate_parameter_library to load kinematics parameters (#1568)

  • Merge PR #1553: Improve cmake files

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

  • Improve CMake usage (#1550)

  • Disable flaky test_servo_singularity + test_rdf_integration (#1530)

  • Remove sensor manager (#1172)

  • Removed plan_with_sensing (#1142)

  • Remove __has_include statements (#1481)

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

  • Default destructor for PlanningComponent (#1470)

  • trajectory execution manager: reactivate tests (#3177)

  • Clean up TrajectoryExecutionManager API: remove unused code (#3178)

    • Clean up unused code

    * Add a comment to MIGRATION.md Co-authored-by: Cristian Beltran <cristianbehe@gmail.com>

  • Merge PR #3172: Fix CI

  • Load robot_description via planning_context.launch

  • TrajectoryExecutionManager: Use local LOGNAME instead of member name_ (#3168)

  • Contributors: Abhijeet Das Gupta, Abishalini Sivaraman, AndyZe, Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel

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>
  • Remove unnecessary rclcpp.hpp includes (#1333)
  • Add missing headers
  • MoveItCpp: Allow multiple pipelines (#3131)
    • Fix config of multiple pipelines
    • Simply MoveItCpp::getPlanningPipelineNames()
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • banish bind()
  • various: prefer objects and references over pointers
  • Contributors: David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

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Recent questions tagged moveit_ros_planning 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 2024-03-03
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

  • Michael Ferguson
  • Michael Görner
  • MoveIt Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
README
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CHANGELOG

Changelog for package moveit_ros_planning

1.1.13 (2023-07-28)

1.1.12 (2023-05-13)

  • Add CSM tests (#3395)
  • CSM: do not jump back in time (#3393)
  • Fix MoveItCpp issues (#3369)
  • Skip executing zero-duration trajectories (#3362)
  • Drop unnecessary cmake dependency on moveit_resources (#3343)
  • Fix (some) doxygen warnings (#3315)
  • Switch master build to C++17 (#3313)
  • Drop lib/ prefix from plugin paths (#3305)
  • Contributors: Jochen Sprickerhof, Michael G

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Messages

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Plugins

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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 2024-03-15
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

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

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

2.9.0 (2024-01-09)

  • [PSM] Process collision object color when adding object trough the planning scene monitor (#2567)
    • Added an optional Collision Object color object to set the coller of the collision object when adding the collision object trough the PSM.
    • Fixes for clang-tidy warnings
    • fix pre-commit
    • Pass by reference
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Node logging for the rest of MoveIt (#2599)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Node logging in moveit_core (#2503)
  • Fix trajectory execution manager comments for docs builds (#2563)
  • Change default topic name for display contacts (#2561)
  • [PSM] Add proccess Collision Object to PSM and request planning scene to moveit py to allow syncing of mutliple PSM (#2536)

    • PlanningSceneMonitor and request planning scene to moveit py to allow syncing of multiple planning scene monitors
    • pre-commit fixes

    * Update moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp First catch empty scene to not have a unneeded indents. Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Removed unneeded callback functions ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Use node logging in moveit_ros (#2482)

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

  • Re-enable waiting for current state in MoveItCpp (#2419)

  • Protect against zero frequency in TrajectoryMonitorMiddlewareHandler (#2423)

  • Small planning pipeline class fixes (#2416)

  • 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)

  • [PSM] Get the parameter values of the main node when declaring them in the private node. (#2392)

    • Get the values of the main node when declaring them in the private node.
    • [chore] linting
    • Removed logging
    • Update formatting

    * Removed whitespace ---------

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

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Abishalini Sivaraman, Henning Kayser, Jens Vanhooydonck, Marq Rasmussen, Rayene Messaoud, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

  • Remove added path index from planner adapter function signature (#2285)
  • 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>

  • Replaced numbers with SystemDefaultsQos() (#2271)

  • 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>

  • Prefer to use the active controller if multiple controllers apply (#2251)

  • Don\'t default to random algorithm if no plugin is defined (#2228)

    • Don\'t default to random algorithm if no plugin is defined
    • Simplify selection logic & initialize default values in constructor
    • Increase message severity
  • Always set response planner id and warn if it is not set (#2236)

  • Suppress redundant error message in CSM (#2222) The CSM would spam the log if /joint_states messages includes unkonwn joints. RobotModel::hasJointModel() allows for verifying joint names in a safe way without the error message.

  • Minor cleanup to ros_control_interface and trajectory execution (#2208)

  • Ensure that planning pipeline id is set (#2202)

  • Add \@brief descriptions for plan_request_adapters (#2185)

  • Make loggers static or move into anonymous namespace (#2184)

    • Make loggers static or move into anonymous namespace
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Move LOGGER out of class template
  • Contributors: Henning Kayser, Sebastian Jahr, Shobuj Paul, Stephanie Eng

2.7.4 (2023-05-18)

  • Update default planning configs to use AddTimeOptimalParameterization (#2167)
  • Deprecate MoveItCpp::execute() use of blocking flag (#1984)
  • Contributors: Anthony Baker, Lucas Wendland

2.7.3 (2023-04-24)

  • Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (#2135)
  • Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
  • Contributors: Jafar, Shobuj Paul

2.7.2 (2023-04-18)

  • Switch from qos_event.hpp to event_handler.hpp (#2111)

    • Switch from qos_event.hpp to event_handler.hpp
    • moveit_common: Add a cmake interface library to keep humble support on main
    • Include qos_event.hpp or event_handler.hpp depending on the ROS 2 version
    • Fix ament_lint_cmake
    • Fix clang-tidy
    • PRIVATE linking in some cases

    * Update moveit_common/cmake/moveit_package.cmake Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com> - Fix servo and cleanup excessive CMake variable usage - Cleanup & make compiling - Small variable naming and const cleanup - Restore OpenCV linking - Public/private linking fixup

    * Revert \"Restore OpenCV linking\" This reverts commit 57a9efa806e59223e35a1f7e998d7b52f930c263. ---------Co-authored-by: JafarAbdi <jafar.uruc@gmail.com> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com>

  • 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>

  • Extract parallel planning from moveit cpp (#2043)

    • Add parallel_planning_interface
    • Add parallel planning interface
    • Rename package to pipeline_planning_interface
    • Move plan_responses_container into own header + source file
    • Add plan_responses_contrainer source file
    • Add solution selection and stopping criterion function files
    • Remove parallel planning from moveit_cpp
    • Move parallel planning into planning package
    • Update moveit_cpp
    • Drop planning_interface changes
    • Add documentation
    • Update other moveit packages
    • Remove removed header
    • Address CI complains
    • Address clang-tidy complains
    • Address clang-tidy complains 2
    • Address clang-tidy complains 3
    • Extract planning pipeline map creation function from moveit_cpp
    • Cleanup comment
    • Use const moveit::core::RobotModelConstPtr&
    • Formatting
    • Add header descriptions
    • Remove superfluous TODOs
    • Cleanup
  • Move displaced launch file into planning_component_tools (#2044)

  • Contributors: Robert Haschke, Sebastian Jahr

2.7.1 (2023-03-23)

2.7.0 (2023-01-29)

  • converted characters from string format to character format (#1881)
  • Add a default stopping criterion for parallel planning (#1876)
    • Add a default callback for parallel planning termination
    • Delete long-deprecated \"using\"
    • A new translation unit for the new callback
    • inline
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Do not allow traj execution from PlanningComponent (#1835)
    • Do not allow traj execution from PlanningComponent
    • Deprecate, don\'t delete
    • Get the group_name from RobotTrajectory
    • Rebase
  • Add optional list of controllers to MoveItCpp::execute() (#1838)
    • Add optional list of controllers
    • The default is an empty vector
  • 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>

  • No default IK solver (#1816)

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

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • 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
  • 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>

  • 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_.

  • 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, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Robert Haschke, Sameer Gupta, 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>

  • Fixup for #1420: Restore constness of generatePlan() (#1699)

  • 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>

  • Fixed typo in deprecation warning in ControllerManager (#1688)

    • fixed typo as suggested by \@AndyZe

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

  • 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
  • Rename MoveItControllerManager. Add deprecation warning (#1601)

    • Rename MoveItControllerManager->Ros2ControlManager. Add deprecation warning.
    • Do not rename base class

    * Still allow users to load plugins by the old names Co-authored-by: Jafar <jafar.uruc@gmail.com>

  • Use generate_parameter_library to load kinematics parameters (#1568)

  • Merge PR #1553: Improve cmake files

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

  • Improve CMake usage (#1550)

  • Disable flaky test_servo_singularity + test_rdf_integration (#1530)

  • Remove sensor manager (#1172)

  • Removed plan_with_sensing (#1142)

  • Remove __has_include statements (#1481)

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

  • Default destructor for PlanningComponent (#1470)

  • trajectory execution manager: reactivate tests (#3177)

  • Clean up TrajectoryExecutionManager API: remove unused code (#3178)

    • Clean up unused code

    * Add a comment to MIGRATION.md Co-authored-by: Cristian Beltran <cristianbehe@gmail.com>

  • Merge PR #3172: Fix CI

  • Load robot_description via planning_context.launch

  • TrajectoryExecutionManager: Use local LOGNAME instead of member name_ (#3168)

  • Contributors: Abhijeet Das Gupta, Abishalini Sivaraman, AndyZe, Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel

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>
  • Remove unnecessary rclcpp.hpp includes (#1333)
  • Add missing headers
  • MoveItCpp: Allow multiple pipelines (#3131)
    • Fix config of multiple pipelines
    • Simply MoveItCpp::getPlanningPipelineNames()
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • banish bind()
  • various: prefer objects and references over pointers
  • Contributors: David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

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Recent questions tagged moveit_ros_planning 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 2024-03-15
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

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

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

2.9.0 (2024-01-09)

  • [PSM] Process collision object color when adding object trough the planning scene monitor (#2567)
    • Added an optional Collision Object color object to set the coller of the collision object when adding the collision object trough the PSM.
    • Fixes for clang-tidy warnings
    • fix pre-commit
    • Pass by reference
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Node logging for the rest of MoveIt (#2599)
  • [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
    • Enable chaining multiple planners
  • Node logging in moveit_core (#2503)
  • Fix trajectory execution manager comments for docs builds (#2563)
  • Change default topic name for display contacts (#2561)
  • [PSM] Add proccess Collision Object to PSM and request planning scene to moveit py to allow syncing of mutliple PSM (#2536)

    • PlanningSceneMonitor and request planning scene to moveit py to allow syncing of multiple planning scene monitors
    • pre-commit fixes

    * Update moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp First catch empty scene to not have a unneeded indents. Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Removed unneeded callback functions ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

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

  • Use node logging in moveit_ros (#2482)

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

  • Re-enable waiting for current state in MoveItCpp (#2419)

  • Protect against zero frequency in TrajectoryMonitorMiddlewareHandler (#2423)

  • Small planning pipeline class fixes (#2416)

  • 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)

  • [PSM] Get the parameter values of the main node when declaring them in the private node. (#2392)

    • Get the values of the main node when declaring them in the private node.
    • [chore] linting
    • Removed logging
    • Update formatting

    * Removed whitespace ---------

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

    • Set qualifier order in .clang-format
    • Ran pre-commit to update according to new style guide
  • Merge branch \'main\' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2

  • Contributors: Abishalini Sivaraman, Henning Kayser, Jens Vanhooydonck, Marq Rasmussen, Rayene Messaoud, Sebastian Castro, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

  • Remove added path index from planner adapter function signature (#2285)
  • 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>

  • Replaced numbers with SystemDefaultsQos() (#2271)

  • 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>

  • Prefer to use the active controller if multiple controllers apply (#2251)

  • Don\'t default to random algorithm if no plugin is defined (#2228)

    • Don\'t default to random algorithm if no plugin is defined
    • Simplify selection logic & initialize default values in constructor
    • Increase message severity
  • Always set response planner id and warn if it is not set (#2236)

  • Suppress redundant error message in CSM (#2222) The CSM would spam the log if /joint_states messages includes unkonwn joints. RobotModel::hasJointModel() allows for verifying joint names in a safe way without the error message.

  • Minor cleanup to ros_control_interface and trajectory execution (#2208)

  • Ensure that planning pipeline id is set (#2202)

  • Add \@brief descriptions for plan_request_adapters (#2185)

  • Make loggers static or move into anonymous namespace (#2184)

    • Make loggers static or move into anonymous namespace
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
    • Move LOGGER out of class template
  • Contributors: Henning Kayser, Sebastian Jahr, Shobuj Paul, Stephanie Eng

2.7.4 (2023-05-18)

  • Update default planning configs to use AddTimeOptimalParameterization (#2167)
  • Deprecate MoveItCpp::execute() use of blocking flag (#1984)
  • Contributors: Anthony Baker, Lucas Wendland

2.7.3 (2023-04-24)

  • Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (#2135)
  • Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
  • Contributors: Jafar, Shobuj Paul

2.7.2 (2023-04-18)

  • Switch from qos_event.hpp to event_handler.hpp (#2111)

    • Switch from qos_event.hpp to event_handler.hpp
    • moveit_common: Add a cmake interface library to keep humble support on main
    • Include qos_event.hpp or event_handler.hpp depending on the ROS 2 version
    • Fix ament_lint_cmake
    • Fix clang-tidy
    • PRIVATE linking in some cases

    * Update moveit_common/cmake/moveit_package.cmake Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com> - Fix servo and cleanup excessive CMake variable usage - Cleanup & make compiling - Small variable naming and const cleanup - Restore OpenCV linking - Public/private linking fixup

    * Revert \"Restore OpenCV linking\" This reverts commit 57a9efa806e59223e35a1f7e998d7b52f930c263. ---------Co-authored-by: JafarAbdi <jafar.uruc@gmail.com> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com>

  • 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>

  • Extract parallel planning from moveit cpp (#2043)

    • Add parallel_planning_interface
    • Add parallel planning interface
    • Rename package to pipeline_planning_interface
    • Move plan_responses_container into own header + source file
    • Add plan_responses_contrainer source file
    • Add solution selection and stopping criterion function files
    • Remove parallel planning from moveit_cpp
    • Move parallel planning into planning package
    • Update moveit_cpp
    • Drop planning_interface changes
    • Add documentation
    • Update other moveit packages
    • Remove removed header
    • Address CI complains
    • Address clang-tidy complains
    • Address clang-tidy complains 2
    • Address clang-tidy complains 3
    • Extract planning pipeline map creation function from moveit_cpp
    • Cleanup comment
    • Use const moveit::core::RobotModelConstPtr&
    • Formatting
    • Add header descriptions
    • Remove superfluous TODOs
    • Cleanup
  • Move displaced launch file into planning_component_tools (#2044)

  • Contributors: Robert Haschke, Sebastian Jahr

2.7.1 (2023-03-23)

2.7.0 (2023-01-29)

  • converted characters from string format to character format (#1881)
  • Add a default stopping criterion for parallel planning (#1876)
    • Add a default callback for parallel planning termination
    • Delete long-deprecated \"using\"
    • A new translation unit for the new callback
    • inline
  • Switch to clang-format-14 (#1877)
    • Switch to clang-format-14
    • Fix clang-format-14
  • Do not allow traj execution from PlanningComponent (#1835)
    • Do not allow traj execution from PlanningComponent
    • Deprecate, don\'t delete
    • Get the group_name from RobotTrajectory
    • Rebase
  • Add optional list of controllers to MoveItCpp::execute() (#1838)
    • Add optional list of controllers
    • The default is an empty vector
  • 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>

  • No default IK solver (#1816)

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

    • fix BSD license in package.xml
    • this must also be spdx compliant
  • 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
  • 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>

  • 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_.

  • 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, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Michael Wiznitzer, Robert Haschke, Sameer Gupta, 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>

  • Fixup for #1420: Restore constness of generatePlan() (#1699)

  • 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>

  • Fixed typo in deprecation warning in ControllerManager (#1688)

    • fixed typo as suggested by \@AndyZe

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

  • 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
  • Rename MoveItControllerManager. Add deprecation warning (#1601)

    • Rename MoveItControllerManager->Ros2ControlManager. Add deprecation warning.
    • Do not rename base class

    * Still allow users to load plugins by the old names Co-authored-by: Jafar <jafar.uruc@gmail.com>

  • Use generate_parameter_library to load kinematics parameters (#1568)

  • Merge PR #1553: Improve cmake files

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

  • Improve CMake usage (#1550)

  • Disable flaky test_servo_singularity + test_rdf_integration (#1530)

  • Remove sensor manager (#1172)

  • Removed plan_with_sensing (#1142)

  • Remove __has_include statements (#1481)

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

  • Default destructor for PlanningComponent (#1470)

  • trajectory execution manager: reactivate tests (#3177)

  • Clean up TrajectoryExecutionManager API: remove unused code (#3178)

    • Clean up unused code

    * Add a comment to MIGRATION.md Co-authored-by: Cristian Beltran <cristianbehe@gmail.com>

  • Merge PR #3172: Fix CI

  • Load robot_description via planning_context.launch

  • TrajectoryExecutionManager: Use local LOGNAME instead of member name_ (#3168)

  • Contributors: Abhijeet Das Gupta, Abishalini Sivaraman, AndyZe, Robert Haschke, Sebastian Jahr, Stephanie Eng, Tyler Weaver, Vatan Aksoy Tezer, abishalini, cambel

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>
  • Remove unnecessary rclcpp.hpp includes (#1333)
  • Add missing headers
  • MoveItCpp: Allow multiple pipelines (#3131)
    • Fix config of multiple pipelines
    • Simply MoveItCpp::getPlanningPipelineNames()
  • Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
  • banish bind()
  • various: prefer objects and references over pointers
  • Contributors: David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged moveit_ros_planning 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

Planning components of MoveIt! that use ROS

Additional Links

Maintainers

  • Michael Ferguson
  • Michael Görner
  • MoveIt! Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

0.9.18 (2020-01-24)

0.9.17 (2019-07-09)

0.9.16 (2019-06-29)

  • [maintanance] Cleanup Chomp packages (#1282)
  • [maintanance] Disable (unused) dependencies (#1256)
  • [maintanance] Resolve catkin lint issues (#1137)
  • [maintanance] Improve clang-format (#1214)
  • [maintanance] Change dynamic reconfigure limits for allowed_goal_duration_margin to 30s (#993)
  • [fix] Use correct trajectory_initialization_method param (#1237)
  • Contributors: Hamal Marino, Ludovic Delval, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged moveit_ros_planning at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.8.7
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit.git
VCS Type git
VCS Version jade-devel
Last Updated 2017-07-23
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

  • Sachin Chitta
  • Ioan Sucan
  • Michael Ferguson

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

0.8.7 (2017-04-03)

  • [fix] gcc6 build error (#471, #458)
  • [fix] undefined symbol in planning_scene_monitor (#463)
  • Contributors: Dave Coleman, Dmitry Rozhkov, Ruben Burger

0.8.6 (2017-03-08)

0.8.4 (2017-02-06)

  • [fix] enforce joint bounds for start state validation
  • [fix] order of unlocking #350
  • [enhancement] Namespaced console output for planning_scene_monitor (#296)
  • [enhancement] validate trajectory before execution (#63)
  • [enhancement] destroy kinematics plugins before their loader (#281)
  • [maintenance] Use static_cast to cast to const. (#435)
  • [maintenance] Change planning_scene service warning to an INFO message (#405)
  • [maintenance] Remove unused Reflexxes code (#227)
  • [maintenance] Use MOVEIT_CLASS_FORWARD for moveit classes in moveit_ros. (#182)
  • [maintenance] simplify RDFLoader & provide more/better error message (#173)
  • [maintenance] use correct install destination of headers (#168)
  • Contributors: Dave Coleman, Isaac I.Y. Saito, Jonathan Binney, Maarten de Vries, Michael Goerner, Robert Haschke

0.8.3 (2016-08-19)

0.6.6 (2016-06-08)

  • Add library moveit_collision_plugin_loader as an exported catkin library (#678)
  • replaced cmake_modules dependency with eigen
  • [jade] eigen3 adjustment
  • Fix compilation with C++11.
  • Enable optional build against Qt5, use -DUseQt5=On to enable it
  • merge indigo-devel changes (PR #633 trailing whitespace) into jade-devel
  • Removed trailing whitespace from entire repository
  • Optional ability to copy velocity and effort to RobotState
  • cherry-picked PR #614 fixed segfault on shutdown
  • fixed segfault on shutdown use of pluginlib\'s createUnmanagedInstance() is strongly discouraged: http://wiki.ros.org/class_loader#Understanding_Loading_and_Unloading here, the kinematics plugin libs were unloaded before destruction of corresponding pointers
  • Deprecate shape_tools
  • CurrentStateMonitor no longer requires hearing mimic joint state values.
  • Fix crash due to robot state not getting updated (moveit_ros #559)
  • Contributors: Dave Coleman, Dave Hershberger, Isaac I.Y. Saito, Levi Armstrong, Maarten de Vries, Robert Haschke, Simon Schmeisser (isys vision), kohlbrecher

0.6.5 (2015-01-24)

  • update maintainers
  • perception: adding RAII-based locking for OccMapTree
  • perception: adding locks to planning scene monitor
  • Add time factor support for iterative_time_parametrization
  • Contributors: Jonathan Bohren, Michael Ferguson, kohlbrecher

0.6.4 (2014-12-20)

  • Namespaced \"traj_execution\" for all trajectory_execution_manager logging
  • planning_scene_monitor: add ros parameter for adding a wait-for-transform lookup time fixes #465
  • Contributors: Dave Coleman, Jonathan Bohren

0.6.3 (2014-12-03)

  • add plugin interface for collision detectors
  • fix missing return value
  • trivial fixes for warnings
  • Contributors: Michael Ferguson

0.6.2 (2014-10-31)

0.6.1 (2014-10-31)

  • re-add libqt4 dependency (previously came from pcl-all)
  • Contributors: Michael Ferguson

0.6.0 (2014-10-27)

  • Removed leadings slash from rosparam for robot padding
  • Added move_group capability for clearing octomap.
  • Made loading octomap_monitor optional in planning_scene_monitor when using WorldGeometryMonitor
  • Contributors: Dave Coleman, Dave Hershberger, Sachin Chitta, ahb

0.5.19 (2014-06-23)

  • Updated doxygen comment in TrajectoryExecutionManager.
  • Added more informative error message text when cant\' find controllers.
  • robot_model_loader.cpp: added call to KinematicsBase::supportsGroup().
  • Fix [-Wreorder] warning.
  • Fix broken log & output statements.
    • Address [cppcheck: coutCerrMisusage] and [-Werror=format-extra-args] errors.
    • ROS_ERROR -> ROS_ERROR_NAMED.
    • Print size_t values portably.
  • Address [-Wreturn-type] warning.
  • Address [cppcheck: postfixOperator] warning.
  • Address [cppcheck: duplicateIf] error. The same condition was being checked twice, and the same action was being taken.
  • Add check for planning scene monitor connection, with 5 sec delay
  • Fix for building srv_kinematics_plugin
  • New ROS service call-based IK plugin
  • Allow planning groups to have more than one tip
  • Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Dave Hershberger

0.5.18 (2014-03-23)

0.5.17 (2014-03-22)

  • update build system for ROS indigo
  • update maintainer e-mail
  • Namespace a debug message
  • Minor non-functional changes to KDL
  • Contributors: Dave Coleman, Ioan Sucan

0.5.16 (2014-02-27)

  • Copy paste error fix
  • Contributors: fivef

0.5.14 (2014-02-06)

0.5.13 (2014-02-06)

  • remove debug printfs
  • planning_scene_monitor: add requestPlanningSceneState()
  • planning_scene_monitor: fix race condition
  • planning_scene_monitor: fix state update bug The rate of state updates is limited to dt_state_update per second. When an update arrived it was not processed if another was recently processed. This meant that if a quick sequence of state updates arrived and then no updates arrive for a while that the last update(s) were not seen until another arrives (which may be much later or never). This fixes the bug by periodically checking for pending updates and running them if they have been pending longer than dt_state_update.
  • add default_robot_link_padding/scale, set padding/scale value for each robot link, see https://github.com/ros-planning/moveit_ros/issues/402
  • fix LockedPlanningSceneRW docs fix the text that was originally copied from another class (from LockedPlanningSceneRO) it mentioned an incorrect return value type of LockedPlanningSceneRW::operator->()
  • Contributors: Acorn Pooley, Filip Jares, Kei Okada

0.5.12 (2014-01-03)

  • Fixed trailing underscores in CHANGELOGs.
  • Contributors: Dave Hershberger

0.5.11 (2014-01-03)

  • planning_scene_monitor: slight code simplification
  • planning_scene_monitor: fix scope of local vars
  • planning_scene_monitor: fix init bug scene_const_ not set if scene passed to constructor.
  • kdl_kinematics_plugin: fix warning
  • Contributors: Acorn Pooley

0.5.10 (2013-12-08)

  • fixing how joint names are filled up, fixed joints were getting included earlier, also resizing consistency limits for when random positions near by function is being called
  • Contributors: Sachin Chitta

0.5.9 (2013-12-03)

  • Doxygen: added warnings and details to planning_scene_monitor.h
  • correcting maintainer email
  • remove duplicate header
  • Fixed exported targets
  • Fixed dependency issue
  • fixing joint limits setup for mimic joints
  • implement feature requests
  • clear monitored octomap when needed (see #315)
  • fix the adapter for fixing path constraints for initial states
  • fixed computation of dimension_.
  • bugfixes in indexing added states for path adapters
  • fixes for mimic joints and redundant joints

0.5.8 (2013-10-11)

  • add executable for publishing scene geometry from text
  • Made the goal duration margin and scaling optional rosparameters
  • bugfixes

0.5.7 (2013-10-01)

0.5.6 (2013-09-26)

0.5.5 (2013-09-23)

  • fix the event triggered on updating attached objects
  • make scene monitor trigger updates only when needed
  • fix loading of default params
  • port to new RobotState API, new messages
  • make sure we do not overwrite attached bodies, when updating the current state
  • fix #308
  • fix #304
  • fix issue with sending trajectories for passive/mimic/fixed joints
  • pass effort along

0.5.4 (2013-08-14)

  • remove CollisionMap, expose topic names in PlanningSceneMonitor, implement detach / attach operations as requested by #280
  • make headers and author definitions aligned the same way; white space fixes
  • move background_processing lib to core
  • add option to disable trajectory monitoring

0.5.2 (2013-07-15)

0.5.1 (2013-07-14)

0.5.0 (2013-07-12)

  • minor doc fixes
  • add docs for planning pipeline
  • cleanup build system
  • fixing approximate ik calculation
  • white space fixes (tabs are now spaces)
  • adding check for approximate solution flag
  • adding options struct to kinematics base
  • port to new base class for planning_interface (using planning contexts)

0.4.5 (2013-07-03)

  • Namespaced ROS* log messages for better debug fitering - added \'kdl\' namespace
  • remove dep
  • make searchPositionIK actually const, and thread-safe
  • Made debug output look better

0.4.4 (2013-06-26)

  • fix #210
  • added dynamic reconfigure parameters to allow enabling/disabling of trajectory duration monitoring. fixes #256
  • add state operations evaluation tool
  • warn when time parametrization fails
  • moved exceptions headers

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged moveit_ros_planning at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.7.14
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit.git
VCS Type git
VCS Version indigo-devel
Last Updated 2019-06-17
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

  • Michael Ferguson
  • Michael Görner
  • MoveIt! Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

0.7.14 (2018-10-20)

  • [fix] fix race conditions when updating PlanningScene #350
  • [improvement] skip non-actuated joints for trajectory execution (#753)
  • [capability][revert] Revert \"Improved IPTP by fitting a cubic spline (#382)\"
  • Contributors: Dave Coleman, Kei Okada, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
cob_collision_monitor github-ipa320-cob_manipulation
industrial_trajectory_filters github-ros-industrial-industrial_core
moveit_kinematics github-ros-planning-moveit
moveit_planners_ompl github-ros-planning-moveit
moveit_fake_controller_manager github-ros-planning-moveit
moveit_ros_benchmarks github-ros-planning-moveit
moveit_ros_benchmarks_gui github-ros-planning-moveit
moveit_ros_manipulation github-ros-planning-moveit
moveit_ros_move_group github-ros-planning-moveit
moveit_ros github-ros-planning-moveit
moveit_ros_planning_interface github-ros-planning-moveit
moveit_ros_robot_interaction github-ros-planning-moveit
moveit_ros_warehouse github-ros-planning-moveit
moveit_runtime github-ros-planning-moveit
moveit_setup_assistant github-ros-planning-moveit
pr2_moveit_tests github-ros-planning-moveit_pr2
moveit_sim_controller github-davetcoleman-moveit_sim_controller
tork_moveit_tutorial github-tork-a-tork_moveit_tutorial
ur_kinematics github-ros-industrial-universal_robot
vs060 github-start-jsk-denso
force_torque_sensor_calib github-kth-ros-pkg-force_torque_tools
descartes_moveit github-ros-industrial-consortium-descartes
moveit_simple_grasps github-davetcoleman-moveit_simple_grasps
aubo_kinematics github-auboliuxin-aubo_robot
aubo_trajectory_filters github-auboliuxin-aubo_robot
fetch_pbd_interaction github-fetchrobotics-fetch_pbd
constrained_ik github-ros-industrial-industrial_moveit
industrial_moveit_benchmarking github-ros-industrial-industrial_moveit
stomp_moveit github-ros-industrial-industrial_moveit
stomp_plugins github-ros-industrial-industrial_moveit
rapid_pbd github-jstnhuang-rapid_pbd
romeo_moveit_actions github-ros-aldebaran-romeo_moveit_actions

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged moveit_ros_planning at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 0.5.20
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit_ros.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-04-14
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

Planning components of MoveIt that use ROS

Additional Links

Maintainers

  • Sachin Chitta
  • Ioan Sucan

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

0.5.20 (2014-12-09)

  • Made loading octomap_monitor optional in planning_scene_monitor when using WorldGeometryMonitor
  • remove leading \'/\' from DEFAULT_PLANNING_SCENE_SERVICE; otherwise planning_scene_rviz_plugin fails with \'Failed to call service /get_planning_scene ...\' if move_group is in a namespace different from \'/\'
  • Made loading octomap_monitor optional in planning_scene_monitor when using WorldGeometryMonitor
  • service must have access to global namespace
  • Added capability to set max_planning_attempts in GUI. Parallel planner now plans until either the planning_time is reached or until max_planning_attempts are successfull.
  • Contributors: Chris Lewis, Dave Coleman, Sachin Chitta, ahb

0.5.19 (2014-06-23)

  • Updated doxygen comment in TrajectoryExecutionManager.
  • Added more informative error message text when cant\' find controllers.
  • robot_model_loader.cpp: added call to KinematicsBase::supportsGroup().
  • Fix [-Wreorder] warning.
  • Fix broken log & output statements.
    • Address [cppcheck: coutCerrMisusage] and [-Werror=format-extra-args] errors.
    • ROS_ERROR -> ROS_ERROR_NAMED.
    • Print size_t values portably.
  • Address [-Wreturn-type] warning.
  • Address [cppcheck: postfixOperator] warning.
  • Address [cppcheck: duplicateIf] error. The same condition was being checked twice, and the same action was being taken.
  • Add check for planning scene monitor connection, with 5 sec delay
  • Fix for building srv_kinematics_plugin
  • New ROS service call-based IK plugin
  • Allow planning groups to have more than one tip
  • Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Dave Hershberger

0.5.18 (2014-03-23)

0.5.17 (2014-03-22)

  • update build system for ROS indigo
  • update maintainer e-mail
  • Namespace a debug message
  • Minor non-functional changes to KDL
  • Contributors: Dave Coleman, Ioan Sucan

0.5.16 (2014-02-27)

  • Copy paste error fix
  • Contributors: fivef

0.5.14 (2014-02-06)

0.5.13 (2014-02-06)

  • remove debug printfs
  • planning_scene_monitor: add requestPlanningSceneState()
  • planning_scene_monitor: fix race condition
  • planning_scene_monitor: fix state update bug The rate of state updates is limited to dt_state_update per second. When an update arrived it was not processed if another was recently processed. This meant that if a quick sequence of state updates arrived and then no updates arrive for a while that the last update(s) were not seen until another arrives (which may be much later or never). This fixes the bug by periodically checking for pending updates and running them if they have been pending longer than dt_state_update.
  • add default_robot_link_padding/scale, set padding/scale value for each robot link, see https://github.com/ros-planning/moveit_ros/issues/402
  • fix LockedPlanningSceneRW docs fix the text that was originally copied from another class (from LockedPlanningSceneRO) it mentioned an incorrect return value type of LockedPlanningSceneRW::operator->()
  • Contributors: Acorn Pooley, Filip Jares, Kei Okada

0.5.12 (2014-01-03)

  • Fixed trailing underscores in CHANGELOGs.
  • Contributors: Dave Hershberger

0.5.11 (2014-01-03)

  • planning_scene_monitor: slight code simplification
  • planning_scene_monitor: fix scope of local vars
  • planning_scene_monitor: fix init bug scene_const_ not set if scene passed to constructor.
  • kdl_kinematics_plugin: fix warning
  • Contributors: Acorn Pooley

0.5.10 (2013-12-08)

  • fixing how joint names are filled up, fixed joints were getting included earlier, also resizing consistency limits for when random positions near by function is being called
  • Contributors: Sachin Chitta

0.5.9 (2013-12-03)

  • Doxygen: added warnings and details to planning_scene_monitor.h
  • correcting maintainer email
  • remove duplicate header
  • Fixed exported targets
  • Fixed dependency issue
  • fixing joint limits setup for mimic joints
  • implement feature requests
  • clear monitored octomap when needed (see #315)
  • fix the adapter for fixing path constraints for initial states
  • fixed computation of dimension_.
  • bugfixes in indexing added states for path adapters
  • fixes for mimic joints and redundant joints

0.5.8 (2013-10-11)

  • add executable for publishing scene geometry from text
  • Made the goal duration margin and scaling optional rosparameters
  • bugfixes

0.5.7 (2013-10-01)

0.5.6 (2013-09-26)

0.5.5 (2013-09-23)

  • fix the event triggered on updating attached objects
  • make scene monitor trigger updates only when needed
  • fix loading of default params
  • port to new RobotState API, new messages
  • make sure we do not overwrite attached bodies, when updating the current state
  • fix #308
  • fix #304
  • fix issue with sending trajectories for passive/mimic/fixed joints
  • pass effort along

0.5.4 (2013-08-14)

  • remove CollisionMap, expose topic names in PlanningSceneMonitor, implement detach / attach operations as requested by #280
  • make headers and author definitions aligned the same way; white space fixes
  • move background_processing lib to core
  • add option to disable trajectory monitoring

0.5.2 (2013-07-15)

0.5.1 (2013-07-14)

0.5.0 (2013-07-12)

  • minor doc fixes
  • add docs for planning pipeline
  • cleanup build system
  • fixing approximate ik calculation
  • white space fixes (tabs are now spaces)
  • adding check for approximate solution flag
  • adding options struct to kinematics base
  • port to new base class for planning_interface (using planning contexts)

0.4.5 (2013-07-03)

  • Namespaced ROS* log messages for better debug fitering - added \'kdl\' namespace
  • remove dep
  • make searchPositionIK actually const, and thread-safe
  • Made debug output look better

0.4.4 (2013-06-26)

  • fix #210
  • added dynamic reconfigure parameters to allow enabling/disabling of trajectory duration monitoring. fixes #256
  • add state operations evaluation tool
  • warn when time parametrization fails
  • moved exceptions headers

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged moveit_ros_planning 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

Planning components of MoveIt! that use ROS

Additional Links

Maintainers

  • Michael Ferguson
  • Michael Görner
  • MoveIt! Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

0.9.18 (2020-01-24)

0.9.17 (2019-07-09)

0.9.16 (2019-06-29)

  • [maintanance] Cleanup Chomp packages (#1282)
  • [maintanance] Disable (unused) dependencies (#1256)
  • [maintanance] Resolve catkin lint issues (#1137)
  • [maintanance] Improve clang-format (#1214)
  • [maintanance] Change dynamic reconfigure limits for allowed_goal_duration_margin to 30s (#993)
  • [fix] Use correct trajectory_initialization_method param (#1237)
  • Contributors: Hamal Marino, Ludovic Delval, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
cob_collision_monitor github-ipa320-cob_manipulation
exotica_core github-ipab-slmc-exotica
fsrobo_r_trajectory_filters github-FUJISOFT-Robotics-fsrobo_r
industrial_trajectory_filters github-ros-industrial-industrial_core
moveit_kinematics github-ros-planning-moveit
moveit_planners_ompl github-ros-planning-moveit
moveit_fake_controller_manager github-ros-planning-moveit
moveit_ros_benchmarks github-ros-planning-moveit
moveit_ros_manipulation github-ros-planning-moveit
moveit_ros_move_group github-ros-planning-moveit
moveit_ros github-ros-planning-moveit
moveit_ros_planning_interface github-ros-planning-moveit
moveit_ros_robot_interaction github-ros-planning-moveit
moveit_ros_warehouse 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
pr2_moveit_tests github-ros-planning-moveit_pr2
moveit_sim_controller github-davetcoleman-moveit_sim_controller
moveit_visual_tools github-ros-planning-moveit_visual_tools
open_manipulator_controller github-ROBOTIS-GIT-open_manipulator
open_manipulator_with_tb3_tools github-ROBOTIS-GIT-open_manipulator_with_tb3
pilz_trajectory_generation github-PilzDE-pilz_industrial_motion
prbt_support github-PilzDE-pilz_robots
hand_kinematics github-shadow-robot-sr_interface
sr_robot_commander github-shadow-robot-sr_interface
ur_kinematics github-ros-industrial-universal_robot
vs060 github-start-jsk-denso
force_torque_sensor_calib github-kth-ros-pkg-force_torque_tools
jog_controller github-tork-a-jog_control
stomp_moveit github-ros-industrial-stomp_ros
stomp_plugins github-ros-industrial-stomp_ros
xarm_moveit_servo github-xArm-Developer-xarm_ros

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged moveit_ros_planning at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.0.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit.git
VCS Type git
VCS Version melodic-devel
Last Updated 2022-09-13
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

Planning components of MoveIt! that use ROS

Additional Links

Maintainers

  • Michael Ferguson
  • Michael Görner
  • MoveIt! Release Team

Authors

  • Ioan Sucan
  • Sachin Chitta
README
No README found. See repository README.
CHANGELOG

Changelog for package moveit_ros_planning

1.0.11 (2022-09-13)

1.0.10 (2022-03-06)

1.0.9 (2022-01-09)

  • Use moveit-resources@master (#2951)
    • Simplify launch files to use the test_environment.launch files from
    • Provide compatibility to the Noetic-style configuration of (multiple) planning pipelines Only a single pipeline can be used at a time, specified via the ~default_planning_pipeline parameter.
  • Contributors: Robert Haschke

1.0.8 (2021-05-23)

  • Unify and simplify CSM::haveCompleteState overloads (#2663)
  • FixStartStateBounds: Copy attached bodies when adapting the start state (#2398)
  • PlanExecution: Correctly handle preempt-requested flag (#2554)
  • thread safety in clear octomap & only update geometry (#2500)
  • Fix some typos in comments (#2466)
  • Simplify logic in PSM (#2632) (#2637)
  • Contributors: Jafar Abdi, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
cob_collision_monitor github-ipa320-cob_manipulation
exotica_core github-ipab-slmc-exotica
fsrobo_r_trajectory_filters github-FUJISOFT-Robotics-fsrobo_r
industrial_trajectory_filters github-ros-industrial-industrial_core
moveit_kinematics github-ros-planning-moveit
moveit_planners_ompl github-ros-planning-moveit
pilz_industrial_motion_planner github-ros-planning-moveit
moveit_fake_controller_manager github-ros-planning-moveit
moveit_ros_benchmarks github-ros-planning-moveit
moveit_ros_manipulation github-ros-planning-moveit
moveit_ros_move_group github-ros-planning-moveit
moveit_ros github-ros-planning-moveit
moveit_ros_perception github-ros-planning-moveit
moveit_ros_planning_interface github-ros-planning-moveit
moveit_ros_robot_interaction github-ros-planning-moveit
moveit_ros_warehouse 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
pr2_moveit_tests github-ros-planning-moveit_pr2
moveit_sim_controller github-PickNikRobotics-moveit_sim_controller
moveit_tutorials github-ros-planning-moveit_tutorials
moveit_visual_tools github-ros-planning-moveit_visual_tools
open_manipulator_with_tb3_tools github-ROBOTIS-GIT-open_manipulator_with_tb3
pilz_trajectory_generation github-PilzDE-pilz_industrial_motion
pilz_control github-PilzDE-pilz_robots
prbt_moveit_config github-PilzDE-pilz_robots
prbt_support github-PilzDE-pilz_robots
hand_kinematics github-shadow-robot-sr_interface
sr_robot_commander github-shadow-robot-sr_interface
tork_moveit_tutorial github-tork-a-tork_moveit_tutorial
ur_kinematics github-ros-industrial-universal_robot

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged moveit_ros_planning at Robotics Stack Exchange