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)

• Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

• Benchmark parallel planning pipelines (#1539)

  • Remove launch and config files (moved to moveit_resources)

• Merge pull request #1546 from peterdavidfagan/moveit_py Python Bindings - moveit_py

• add new python bindings Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Co-authored-by: Michael Gorner <me@v4hn.de> Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Peter Mitrano <mitranopeter@gmail.com> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Jafar <jafar.uruc@gmail.com> Co-authored-by: Shahwas Khan <shahwazk@usc.edu>

• moveit_cpp: handle the case where blocking==false (#1834)

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

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

• Contributors: AlexWebb, AndyZe, Jafar, Robert Haschke, Sebastian Jahr, peterdavidfagan

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