Package Summary

Tags No category tags.
Version 2.5.1
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 2022-06-21
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

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

2.5.1 (2022-05-31)

2.5.0 (2022-05-26)

  • Enable cppcheck (#1224) Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>
  • Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
  • Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
  • banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
  • Delete an unused variable and a redundant log message (#1179) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • [Servo] Add override parameter to set constant velocity scaling in Servo (#1169)
  • Rename panda controllers
  • Enable rolling / jammy CI (again) (#1134)
    • Use ros2_control binaries
    • Use output screen instead of explicitly stating stderr
  • Temporarily add galactic CI (#1107)
    • Add galactic CI
    • Comment out rolling
    • panda_ros_controllers -> panda_ros2_controllers
    • Ignore flake8 tests
  • 1.1.9
  • Compilation fixes for Jammy and bring back Rolling CI (#1095)
    • Use jammy dockers and clang-format-12
    • Fix unused depend, and move to python3-lxml
    • add ompl to repos, fix versions and ogre
    • Remove ogre keys
    • Fix boolean node operator
    • Stop building dockers on branch and fix servo null pointer
    • update pre-commit to clang-format-12 and pre-commit fixes
    • clang-format workaround and more pre-commit fixes
  • Explicitly set is_primary_planning_scene_monitor in Servo example config (#1060)
  • 1.1.8
  • [hybrid planning] Add action abortion and test; improve the existing test (#980)

    • Add action abortion and test; improve the existing test
    • Add controller run-dependency
    • Fix the clearing of robot trajectory when a collision would occur
    • Fix replanning if local planner is stuck
    • Lambda function everything
    • Thread safety for stop_hybrid_planning_
    • Thread-safe state_
    • Clang tidy
    • Update the planning scene properly

    * Update Servo test initial_positions.yaml Co-authored-by: Tyler Weaver <tyler@picknik.ai>

  • Remove unused parameters. (#1018) Co-authored-by: Tyler Weaver <tyler@picknik.ai> Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>

  • Add moveit_configs_utils package to simplify loading paramters (#591) Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> Co-authored-by: Tyler Weaver <tyler@picknik.ai>

  • 1.1.7

  • 1.1.6

  • Servo: sync position limit enforcement with MoveIt2 (#2898)

    • fix enforce position bug
    • remove unnecessary variable
    • make clang tidy happy
    • Update my comment
    • implement same logic as in the moveit2! repo

    * fix copy-pase error Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Cory Crean, Henning Kayser, Jafar, Jafar Abdi, Joseph Schornak, Marq Rasmussen, Michael Wiznitzer, Robert Haschke, Vatan Aksoy Tezer, jeoseo, v4hn

2.4.0 (2022-01-20)

  • Remove \'using namespace\' from header files. (#994)
  • Servo: re-order velocity limit check & minor cleanup (#956)
  • moveit_build_options() Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE, and compiler options (namely warning flags) once. Each package depending on moveit_core can use these via moveit_build_options().
  • Contributors: AndyZe, Cory Crean, Robert Haschke

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

  • Servo: fix -Wunused-private-field (#937)
  • Add codespell to precommit, fix A LOT of spelling mistakes (#934)
  • Add descriptions and default values to servo parameters (#799)
  • Update README (#812)
  • Enforce package.xml format 3 Schema (#779)
  • Update Maintainers of MoveIt package (#697)
  • moveit_servo: Fix ACM for collision checking & PSM\'s scene monitor topic (#673)
  • Fix initialization of PSM publisher in servo (#771)
  • Move initialization of ServoNode into constructor (#761)
  • Fix missing test depend in servo (#759)
  • Find/replace deprecated spawner.py (#737)
  • Fix the servo executable name (#746)
  • Use rclcpp::SystemDefaultsQoS in Servo (#721)
  • Use multi-threaded component container, do not use intraprocess comms in Servo (#723)
  • Disable use_intra_process_comms in servo launch files (#722)
  • Servo: minor fixups (#2759)
  • Contributors: AndyZe, Dave Coleman, David V. Lu!!, Henning Kayser, Jafar Abdi, Robert Haschke, Stephanie Eng, Tyler Weaver, toru-kuga

2.3.0 (2021-10-08)

  • Make TF buffer & listener in PSM private (#654)
  • Rename ServoServer to ServerNode (#649)
  • Fix std::placeholders namespace conflict (#713)
  • Publish singularity condition to ~/servo_server/condition (#695)
  • Skip publishing to Servo topics if input commands are stale (#707)
  • Delete duplicate entry in Servo launch file (#684)
  • Fix cmake warnings (#690)
    • Fix -Wformat-security
    • Fix -Wunused-variable
    • Fix -Wunused-lambda-capture
    • Fix -Wdeprecated-declarations
    • Fix clang-tidy, readability-identifier-naming in moveit_kinematics
  • Add standalone executable for Servo node, and example launch file (#621)
  • Validate return of getJointModelGroup in ServoCalcs (#648)
  • Migrate to joint_state_broadcaster (#657)
  • Add gripper and traj control packages as run dependencies (#636)
  • Fix warnings in Galactic and Rolling (#598)
    • Use __has_includes preprocessor directive for deprecated headers
    • Fix parameter template types
    • Proper initialization of smart pointers, rclcpp::Duration
  • Remove stray semicolon (#613)
  • Re-Enable Servo Tests (#603)
  • Fix missing include in servo example (#604)
  • Document the difference between Servo pause/unpause and start/stop (#605)
  • Wait for complete state duration fix (#590)
  • Delete \"stop distance\"-based collision checking (#564)
  • Fix loading joint_limits.yaml in demo and test launch files (#544)
  • Fixes for Windows (#530)
  • Refactor out velocity limit enforcement with test (#540)
  • Refactor moveit_servo::LowPassFilter to be assignable (#572)
  • Fix MoveIt Servo compilation on macOS (#555)
  • Fix segfault if servo collision checking is disabled (#568)
  • Remove gtest include from non-testing source (#2747)
  • Fix an off-by-one error in servo_calcs.cpp (#2740)
  • Contributors: AdamPettinger, Akash, AndyZe, Griswald Brooks, Henning Kayser, Jafar Abdi, Joseph Schornak, 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

No plugins found.

Recent questions tagged moveit_servo at answers.ros.org

Package Summary

Tags No category tags.
Version 2.5.1
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 2022-06-21
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

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

2.5.1 (2022-05-31)

2.5.0 (2022-05-26)

  • Enable cppcheck (#1224) Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>
  • Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
  • Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
  • banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
  • Delete an unused variable and a redundant log message (#1179) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • [Servo] Add override parameter to set constant velocity scaling in Servo (#1169)
  • Rename panda controllers
  • Enable rolling / jammy CI (again) (#1134)
    • Use ros2_control binaries
    • Use output screen instead of explicitly stating stderr
  • Temporarily add galactic CI (#1107)
    • Add galactic CI
    • Comment out rolling
    • panda_ros_controllers -> panda_ros2_controllers
    • Ignore flake8 tests
  • 1.1.9
  • Compilation fixes for Jammy and bring back Rolling CI (#1095)
    • Use jammy dockers and clang-format-12
    • Fix unused depend, and move to python3-lxml
    • add ompl to repos, fix versions and ogre
    • Remove ogre keys
    • Fix boolean node operator
    • Stop building dockers on branch and fix servo null pointer
    • update pre-commit to clang-format-12 and pre-commit fixes
    • clang-format workaround and more pre-commit fixes
  • Explicitly set is_primary_planning_scene_monitor in Servo example config (#1060)
  • 1.1.8
  • [hybrid planning] Add action abortion and test; improve the existing test (#980)

    • Add action abortion and test; improve the existing test
    • Add controller run-dependency
    • Fix the clearing of robot trajectory when a collision would occur
    • Fix replanning if local planner is stuck
    • Lambda function everything
    • Thread safety for stop_hybrid_planning_
    • Thread-safe state_
    • Clang tidy
    • Update the planning scene properly

    * Update Servo test initial_positions.yaml Co-authored-by: Tyler Weaver <tyler@picknik.ai>

  • Remove unused parameters. (#1018) Co-authored-by: Tyler Weaver <tyler@picknik.ai> Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>

  • Add moveit_configs_utils package to simplify loading paramters (#591) Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> Co-authored-by: Tyler Weaver <tyler@picknik.ai>

  • 1.1.7

  • 1.1.6

  • Servo: sync position limit enforcement with MoveIt2 (#2898)

    • fix enforce position bug
    • remove unnecessary variable
    • make clang tidy happy
    • Update my comment
    • implement same logic as in the moveit2! repo

    * fix copy-pase error Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Cory Crean, Henning Kayser, Jafar, Jafar Abdi, Joseph Schornak, Marq Rasmussen, Michael Wiznitzer, Robert Haschke, Vatan Aksoy Tezer, jeoseo, v4hn

2.4.0 (2022-01-20)

  • Remove \'using namespace\' from header files. (#994)
  • Servo: re-order velocity limit check & minor cleanup (#956)
  • moveit_build_options() Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE, and compiler options (namely warning flags) once. Each package depending on moveit_core can use these via moveit_build_options().
  • Contributors: AndyZe, Cory Crean, Robert Haschke

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

  • Servo: fix -Wunused-private-field (#937)
  • Add codespell to precommit, fix A LOT of spelling mistakes (#934)
  • Add descriptions and default values to servo parameters (#799)
  • Update README (#812)
  • Enforce package.xml format 3 Schema (#779)
  • Update Maintainers of MoveIt package (#697)
  • moveit_servo: Fix ACM for collision checking & PSM\'s scene monitor topic (#673)
  • Fix initialization of PSM publisher in servo (#771)
  • Move initialization of ServoNode into constructor (#761)
  • Fix missing test depend in servo (#759)
  • Find/replace deprecated spawner.py (#737)
  • Fix the servo executable name (#746)
  • Use rclcpp::SystemDefaultsQoS in Servo (#721)
  • Use multi-threaded component container, do not use intraprocess comms in Servo (#723)
  • Disable use_intra_process_comms in servo launch files (#722)
  • Servo: minor fixups (#2759)
  • Contributors: AndyZe, Dave Coleman, David V. Lu!!, Henning Kayser, Jafar Abdi, Robert Haschke, Stephanie Eng, Tyler Weaver, toru-kuga

2.3.0 (2021-10-08)

  • Make TF buffer & listener in PSM private (#654)
  • Rename ServoServer to ServerNode (#649)
  • Fix std::placeholders namespace conflict (#713)
  • Publish singularity condition to ~/servo_server/condition (#695)
  • Skip publishing to Servo topics if input commands are stale (#707)
  • Delete duplicate entry in Servo launch file (#684)
  • Fix cmake warnings (#690)
    • Fix -Wformat-security
    • Fix -Wunused-variable
    • Fix -Wunused-lambda-capture
    • Fix -Wdeprecated-declarations
    • Fix clang-tidy, readability-identifier-naming in moveit_kinematics
  • Add standalone executable for Servo node, and example launch file (#621)
  • Validate return of getJointModelGroup in ServoCalcs (#648)
  • Migrate to joint_state_broadcaster (#657)
  • Add gripper and traj control packages as run dependencies (#636)
  • Fix warnings in Galactic and Rolling (#598)
    • Use __has_includes preprocessor directive for deprecated headers
    • Fix parameter template types
    • Proper initialization of smart pointers, rclcpp::Duration
  • Remove stray semicolon (#613)
  • Re-Enable Servo Tests (#603)
  • Fix missing include in servo example (#604)
  • Document the difference between Servo pause/unpause and start/stop (#605)
  • Wait for complete state duration fix (#590)
  • Delete \"stop distance\"-based collision checking (#564)
  • Fix loading joint_limits.yaml in demo and test launch files (#544)
  • Fixes for Windows (#530)
  • Refactor out velocity limit enforcement with test (#540)
  • Refactor moveit_servo::LowPassFilter to be assignable (#572)
  • Fix MoveIt Servo compilation on macOS (#555)
  • Fix segfault if servo collision checking is disabled (#568)
  • Remove gtest include from non-testing source (#2747)
  • Fix an off-by-one error in servo_calcs.cpp (#2740)
  • Contributors: AdamPettinger, Akash, AndyZe, Griswald Brooks, Henning Kayser, Jafar Abdi, Joseph Schornak, 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

No plugins found.

Recent questions tagged moveit_servo at answers.ros.org

Package Summary

Tags No category tags.
Version 2.5.1
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 2022-06-21
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

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

2.5.1 (2022-05-31)

2.5.0 (2022-05-26)

  • Enable cppcheck (#1224) Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>
  • Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
  • Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
  • banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
  • Delete an unused variable and a redundant log message (#1179) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • [Servo] Add override parameter to set constant velocity scaling in Servo (#1169)
  • Rename panda controllers
  • Enable rolling / jammy CI (again) (#1134)
    • Use ros2_control binaries
    • Use output screen instead of explicitly stating stderr
  • Temporarily add galactic CI (#1107)
    • Add galactic CI
    • Comment out rolling
    • panda_ros_controllers -> panda_ros2_controllers
    • Ignore flake8 tests
  • 1.1.9
  • Compilation fixes for Jammy and bring back Rolling CI (#1095)
    • Use jammy dockers and clang-format-12
    • Fix unused depend, and move to python3-lxml
    • add ompl to repos, fix versions and ogre
    • Remove ogre keys
    • Fix boolean node operator
    • Stop building dockers on branch and fix servo null pointer
    • update pre-commit to clang-format-12 and pre-commit fixes
    • clang-format workaround and more pre-commit fixes
  • Explicitly set is_primary_planning_scene_monitor in Servo example config (#1060)
  • 1.1.8
  • [hybrid planning] Add action abortion and test; improve the existing test (#980)

    • Add action abortion and test; improve the existing test
    • Add controller run-dependency
    • Fix the clearing of robot trajectory when a collision would occur
    • Fix replanning if local planner is stuck
    • Lambda function everything
    • Thread safety for stop_hybrid_planning_
    • Thread-safe state_
    • Clang tidy
    • Update the planning scene properly

    * Update Servo test initial_positions.yaml Co-authored-by: Tyler Weaver <tyler@picknik.ai>

  • Remove unused parameters. (#1018) Co-authored-by: Tyler Weaver <tyler@picknik.ai> Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>

  • Add moveit_configs_utils package to simplify loading paramters (#591) Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> Co-authored-by: Tyler Weaver <tyler@picknik.ai>

  • 1.1.7

  • 1.1.6

  • Servo: sync position limit enforcement with MoveIt2 (#2898)

    • fix enforce position bug
    • remove unnecessary variable
    • make clang tidy happy
    • Update my comment
    • implement same logic as in the moveit2! repo

    * fix copy-pase error Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Cory Crean, Henning Kayser, Jafar, Jafar Abdi, Joseph Schornak, Marq Rasmussen, Michael Wiznitzer, Robert Haschke, Vatan Aksoy Tezer, jeoseo, v4hn

2.4.0 (2022-01-20)

  • Remove \'using namespace\' from header files. (#994)
  • Servo: re-order velocity limit check & minor cleanup (#956)
  • moveit_build_options() Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE, and compiler options (namely warning flags) once. Each package depending on moveit_core can use these via moveit_build_options().
  • Contributors: AndyZe, Cory Crean, Robert Haschke

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

  • Servo: fix -Wunused-private-field (#937)
  • Add codespell to precommit, fix A LOT of spelling mistakes (#934)
  • Add descriptions and default values to servo parameters (#799)
  • Update README (#812)
  • Enforce package.xml format 3 Schema (#779)
  • Update Maintainers of MoveIt package (#697)
  • moveit_servo: Fix ACM for collision checking & PSM\'s scene monitor topic (#673)
  • Fix initialization of PSM publisher in servo (#771)
  • Move initialization of ServoNode into constructor (#761)
  • Fix missing test depend in servo (#759)
  • Find/replace deprecated spawner.py (#737)
  • Fix the servo executable name (#746)
  • Use rclcpp::SystemDefaultsQoS in Servo (#721)
  • Use multi-threaded component container, do not use intraprocess comms in Servo (#723)
  • Disable use_intra_process_comms in servo launch files (#722)
  • Servo: minor fixups (#2759)
  • Contributors: AndyZe, Dave Coleman, David V. Lu!!, Henning Kayser, Jafar Abdi, Robert Haschke, Stephanie Eng, Tyler Weaver, toru-kuga

2.3.0 (2021-10-08)

  • Make TF buffer & listener in PSM private (#654)
  • Rename ServoServer to ServerNode (#649)
  • Fix std::placeholders namespace conflict (#713)
  • Publish singularity condition to ~/servo_server/condition (#695)
  • Skip publishing to Servo topics if input commands are stale (#707)
  • Delete duplicate entry in Servo launch file (#684)
  • Fix cmake warnings (#690)
    • Fix -Wformat-security
    • Fix -Wunused-variable
    • Fix -Wunused-lambda-capture
    • Fix -Wdeprecated-declarations
    • Fix clang-tidy, readability-identifier-naming in moveit_kinematics
  • Add standalone executable for Servo node, and example launch file (#621)
  • Validate return of getJointModelGroup in ServoCalcs (#648)
  • Migrate to joint_state_broadcaster (#657)
  • Add gripper and traj control packages as run dependencies (#636)
  • Fix warnings in Galactic and Rolling (#598)
    • Use __has_includes preprocessor directive for deprecated headers
    • Fix parameter template types
    • Proper initialization of smart pointers, rclcpp::Duration
  • Remove stray semicolon (#613)
  • Re-Enable Servo Tests (#603)
  • Fix missing include in servo example (#604)
  • Document the difference between Servo pause/unpause and start/stop (#605)
  • Wait for complete state duration fix (#590)
  • Delete \"stop distance\"-based collision checking (#564)
  • Fix loading joint_limits.yaml in demo and test launch files (#544)
  • Fixes for Windows (#530)
  • Refactor out velocity limit enforcement with test (#540)
  • Refactor moveit_servo::LowPassFilter to be assignable (#572)
  • Fix MoveIt Servo compilation on macOS (#555)
  • Fix segfault if servo collision checking is disabled (#568)
  • Remove gtest include from non-testing source (#2747)
  • Fix an off-by-one error in servo_calcs.cpp (#2740)
  • Contributors: AdamPettinger, Akash, AndyZe, Griswald Brooks, Henning Kayser, Jafar Abdi, Joseph Schornak, 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

No plugins found.

Recent questions tagged moveit_servo at answers.ros.org

Package Summary

Tags No category tags.
Version 2.5.1
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 2022-06-21
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

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

2.5.1 (2022-05-31)

2.5.0 (2022-05-26)

  • Enable cppcheck (#1224) Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>
  • Make moveit_common a \'depend\' rather than \'build_depend\' (#1226)
  • Avoid bind(), use lambdas instead (#1204) Adaption of https://github.com/ros-planning/moveit/pull/3106
  • banish bind() source:https://github.com/ros-planning/moveit/pull/3106/commits/a2911c80c28958c1fce8fb52333d770248c4ec05; required minor updates compared to original source commit in order to ensure compatibility with ROS2
  • Delete an unused variable and a redundant log message (#1179) Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
  • [Servo] Add override parameter to set constant velocity scaling in Servo (#1169)
  • Rename panda controllers
  • Enable rolling / jammy CI (again) (#1134)
    • Use ros2_control binaries
    • Use output screen instead of explicitly stating stderr
  • Temporarily add galactic CI (#1107)
    • Add galactic CI
    • Comment out rolling
    • panda_ros_controllers -> panda_ros2_controllers
    • Ignore flake8 tests
  • 1.1.9
  • Compilation fixes for Jammy and bring back Rolling CI (#1095)
    • Use jammy dockers and clang-format-12
    • Fix unused depend, and move to python3-lxml
    • add ompl to repos, fix versions and ogre
    • Remove ogre keys
    • Fix boolean node operator
    • Stop building dockers on branch and fix servo null pointer
    • update pre-commit to clang-format-12 and pre-commit fixes
    • clang-format workaround and more pre-commit fixes
  • Explicitly set is_primary_planning_scene_monitor in Servo example config (#1060)
  • 1.1.8
  • [hybrid planning] Add action abortion and test; improve the existing test (#980)

    • Add action abortion and test; improve the existing test
    • Add controller run-dependency
    • Fix the clearing of robot trajectory when a collision would occur
    • Fix replanning if local planner is stuck
    • Lambda function everything
    • Thread safety for stop_hybrid_planning_
    • Thread-safe state_
    • Clang tidy
    • Update the planning scene properly

    * Update Servo test initial_positions.yaml Co-authored-by: Tyler Weaver <tyler@picknik.ai>

  • Remove unused parameters. (#1018) Co-authored-by: Tyler Weaver <tyler@picknik.ai> Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>

  • Add moveit_configs_utils package to simplify loading paramters (#591) Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> Co-authored-by: Tyler Weaver <tyler@picknik.ai>

  • 1.1.7

  • 1.1.6

  • Servo: sync position limit enforcement with MoveIt2 (#2898)

    • fix enforce position bug
    • remove unnecessary variable
    • make clang tidy happy
    • Update my comment
    • implement same logic as in the moveit2! repo

    * fix copy-pase error Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <andyz@utexas.edu>

  • Contributors: AndyZe, Cory Crean, Henning Kayser, Jafar, Jafar Abdi, Joseph Schornak, Marq Rasmussen, Michael Wiznitzer, Robert Haschke, Vatan Aksoy Tezer, jeoseo, v4hn

2.4.0 (2022-01-20)

  • Remove \'using namespace\' from header files. (#994)
  • Servo: re-order velocity limit check & minor cleanup (#956)
  • moveit_build_options() Declare common build options like CMAKE_CXX_STANDARD, CMAKE_BUILD_TYPE, and compiler options (namely warning flags) once. Each package depending on moveit_core can use these via moveit_build_options().
  • Contributors: AndyZe, Cory Crean, Robert Haschke

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

  • Servo: fix -Wunused-private-field (#937)
  • Add codespell to precommit, fix A LOT of spelling mistakes (#934)
  • Add descriptions and default values to servo parameters (#799)
  • Update README (#812)
  • Enforce package.xml format 3 Schema (#779)
  • Update Maintainers of MoveIt package (#697)
  • moveit_servo: Fix ACM for collision checking & PSM\'s scene monitor topic (#673)
  • Fix initialization of PSM publisher in servo (#771)
  • Move initialization of ServoNode into constructor (#761)
  • Fix missing test depend in servo (#759)
  • Find/replace deprecated spawner.py (#737)
  • Fix the servo executable name (#746)
  • Use rclcpp::SystemDefaultsQoS in Servo (#721)
  • Use multi-threaded component container, do not use intraprocess comms in Servo (#723)
  • Disable use_intra_process_comms in servo launch files (#722)
  • Servo: minor fixups (#2759)
  • Contributors: AndyZe, Dave Coleman, David V. Lu!!, Henning Kayser, Jafar Abdi, Robert Haschke, Stephanie Eng, Tyler Weaver, toru-kuga

2.3.0 (2021-10-08)

  • Make TF buffer & listener in PSM private (#654)
  • Rename ServoServer to ServerNode (#649)
  • Fix std::placeholders namespace conflict (#713)
  • Publish singularity condition to ~/servo_server/condition (#695)
  • Skip publishing to Servo topics if input commands are stale (#707)
  • Delete duplicate entry in Servo launch file (#684)
  • Fix cmake warnings (#690)
    • Fix -Wformat-security
    • Fix -Wunused-variable
    • Fix -Wunused-lambda-capture
    • Fix -Wdeprecated-declarations
    • Fix clang-tidy, readability-identifier-naming in moveit_kinematics
  • Add standalone executable for Servo node, and example launch file (#621)
  • Validate return of getJointModelGroup in ServoCalcs (#648)
  • Migrate to joint_state_broadcaster (#657)
  • Add gripper and traj control packages as run dependencies (#636)
  • Fix warnings in Galactic and Rolling (#598)
    • Use __has_includes preprocessor directive for deprecated headers
    • Fix parameter template types
    • Proper initialization of smart pointers, rclcpp::Duration
  • Remove stray semicolon (#613)
  • Re-Enable Servo Tests (#603)
  • Fix missing include in servo example (#604)
  • Document the difference between Servo pause/unpause and start/stop (#605)
  • Wait for complete state duration fix (#590)
  • Delete \"stop distance\"-based collision checking (#564)
  • Fix loading joint_limits.yaml in demo and test launch files (#544)
  • Fixes for Windows (#530)
  • Refactor out velocity limit enforcement with test (#540)
  • Refactor moveit_servo::LowPassFilter to be assignable (#572)
  • Fix MoveIt Servo compilation on macOS (#555)
  • Fix segfault if servo collision checking is disabled (#568)
  • Remove gtest include from non-testing source (#2747)
  • Fix an off-by-one error in servo_calcs.cpp (#2740)
  • Contributors: AdamPettinger, Akash, AndyZe, Griswald Brooks, Henning Kayser, Jafar Abdi, Joseph Schornak, 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

No plugins found.

Recent questions tagged moveit_servo at answers.ros.org

Package Summary

Tags No category tags.
Version 1.1.9
License BSD 3-Clause
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit.git
VCS Type git
VCS Version master
Last Updated 2022-06-14
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

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak

Authors

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

MoveIt Servo

Quick Start Guide for UR5 example

Clone the universal_robot repo into your catkin workspace:

git clone https://github.com/ros-industrial/universal_robot.git

Run rosdep install from the src folder to install dependencies.

rosdep install --from-paths . --ignore-src -y

Build and subsequently source the catkin workspace. Startup the robot and MoveIt:

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

In RViz, "plan and execute" a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.

Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.

rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"

Launch the servo node. This example uses commands from a SpaceNavigator joystick-like device:

roslaunch moveit_servo spacenav_cpp.launch

If you dont have a SpaceNavigator, send commands like this:

rostopic pub -r 100 /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
twist:
  linear:
    x: 0.0
    y: 0.01
    z: -0.01
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

If you see a warning about "close to singularity", try changing the direction of motion.

Running Tests

Run tests from the moveit_servo folder:

catkin run_tests --no-deps --this
CHANGELOG

Changelog for package moveit_servo

1.1.9 (2022-03-06)

1.1.8 (2022-01-30)

1.1.7 (2021-12-31)

1.1.6 (2021-11-06)

  • Backport position limit enforcement from MoveIt2 (#2898)
  • Use newly introduced cmake macro moveit_build_options() from moveit_core
  • Minor fixups (#2759)
  • Remove gtest include from non-testing source (#2747)
  • Fix an off-by-one error in servo_calcs.cpp (#2740)
  • Refactor moveit_servo::LowPassFilter to be assignable (#2722)
  • Contributors: Griswald Brooks, 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

No plugins found.

Recent questions tagged moveit_servo at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.10
License BSD 3-Clause
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 2022-03-16
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

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak

Authors

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

Moveit Servo

Quick Start Guide for UR5 example

Clone the universal_robot repo into your catkin workspace:

git clone https://github.com/ros-industrial/universal_robot.git

Run rosdep install from the src folder to install dependencies.

rosdep install --from-paths . --ignore-src -y

Build and subsequently source the catkin workspace. Startup the robot and MoveIt:

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

In RViz, "plan and execute" a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.

Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.

rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"

Launch the servo node. This example uses commands from a SpaceNavigator joystick-like device:

roslaunch moveit_servo spacenav_cpp.launch

If you dont have a SpaceNavigator, send commands like this:

rostopic pub -r 100 /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
twist:
  linear:
    x: 0.0
    y: 0.01
    z: -0.01
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

If you see a warning about "close to singularity", try changing the direction of motion.

Running Tests

Run tests from the moveit_servo folder:

catkin run_tests --no-deps --this
CHANGELOG

Changelog for package moveit_servo

1.0.10 (2022-03-06)

1.0.9 (2022-01-09)

  • Fix an off-by-one error in servo_calcs.cpp (#2908)
  • Contributors: 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

No plugins found.

Recent questions tagged moveit_servo at answers.ros.org

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