Package Summary

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Version 0.5.20
License BSD
Build type CATKIN

Repository Summary

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VCS Type git
VCS Version hydro-devel
Last Updated 2015-04-14
CI status Continuous Integration
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Contributing Help Wanted (0)
Good First Issues (0)
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Package Description

Planning components of MoveIt that use ROS

Additional Links


  • Sachin Chitta
  • Ioan Sucan


  • Ioan Sucan
  • Sachin Chitta
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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.
    • 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
  • 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

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