Package Summary

Tags No category tags.
Version 2.14.0
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 2025-08-10
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak
  • Tyler Weaver
  • Henning Kayser

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver
  • Adam Pettinger

MoveIt Servo

See the Realtime Arm Servoing Tutorial for installation instructions, quick-start guide, an overview about moveit_servo, and to learn how to set it up on your robot.

CHANGELOG

Changelog for package moveit_servo

2.14.0 (2025-06-13)

  • Remove gripper_controllers dependency (#3474)
  • Contributors: Felix Exner (fexner)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

  • Minor typo fix in simulated Panda servo config (#3444)
  • Fix Servo JointJog Crash (#3351)
  • Contributors: Gautham Sam, Matthew Foran

2.13.0 (2025-02-15)

  • Update current state even if servo is paused (#3341)
  • Update robot state if time since last command exceeds timeout (#3251)
  • Fix docstring for Servo smoothHalt function (#3298)
  • servo_keyboard_input: Add Windows support (#3290)
  • Servo Node - pause service: check if request is different than current state. (#3265)
  • Reduce mutex scope in Servo thread (#3259)
  • Update includes for generate_parameter_library 0.4.0 (#3255)
  • Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp (#3139)
  • Contributors: Henning Kayser, Jelmer de Wolde, Kazuya Oguma, Paul Gesel, Sebastian Castro, Silvio Traversaro

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)
  • [moveit_servo] avoid race condition when calling ~/pause_servo (#3059)
  • Cleanup #3056 (#3058)
  • Wait for nonzero joint states in PSM in Servo CPP integration test (#3056)
  • [moveit_servo] fix: ensure ee_pose on planning_frame (#3046)
  • set filter state when no commands (#3027)
  • Obtain time from node. (#3032)
  • [Servo] Use velocity scaling properly in Cartesian and pose tracking commands (#3007)
  • Contributors: Dongya Jiang, Jelmer de Wolde, Paul Gesel, Robert Haschke, Sebastian Castro, Tom Noble

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)

    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)

  • Fix error message text in servo.cpp (#2769)

  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

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Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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