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 for package moveit_servo

2.6.0 (2022-11-10)

• Fix dead tutorial link (#1701) When we refactored the tutorials site it looks like we killed some links. Do we not have a CI job to catch dead links?
• [Servo] CI simplification (#1556) This reverts commit 3322f19056d10d5e5c95c0276e383b048a840573.
• [Servo] Remove the option for \"stop distance\"-based collision checking (#1574)
• Merge PR #1553: Improve cmake files
• Use standard exported targets: export_\${PROJECT_NAME} -> \${PROJECT_NAME}Targets
• Improve CMake usage (#1550)
• [Servo] Use a WallRate so the clock is monotonically increasing (#1543)
  • [Servo] Use a WallRate so the clock is monotonically increasing
  • Re-enable a commented integration test
• Disable flaky test_servo_singularity + test_rdf_integration (#1530)

• Enforce singularity threshold when moving away from a singularity (#620)

  • Enforce singularity threshold behavior even when moving away from a singularity
  • Prevent uncontrolled behavior when servo starts close to a singularity and then servos away from it
  • Scale velocity at a different rate when approaching/leaving singularity
  • Add status code to distinguish between velocity scaling when moving towards/away from the singularity
  • Work on expanding servo singularity tests
  • Pre-commit
  • removed duplicate input checking
  • added 2 other tests
  • undid changes to singularity test

  * Update moveit_ros/moveit_servo/src/servo_calcs.cpp with Nathan\'s suggestion Co-authored-by: Nathan Brooks <nbbrooks@gmail.com> - readability changes and additional servo parameter check - updating to newest design - added warning message - added missing semicolon - made optional parameter nicer

  * Remove outdated warning Co-authored-by: AndyZe <andyz@utexas.edu> * Removing inaccurate comment Co-authored-by: AndyZe <andyz@utexas.edu> - making Andy\'s suggested changes, added some comments and defaults, moved code block next to relevant singularity code - removed part of comment that does not apply any more

  * Mention \"deprecation\" in the warning Co-authored-by: Henry Moore <henrygerardmoore@gmail.com> Co-authored-by: Henry Moore <44307180+henrygerardmoore@users.noreply.github.com> Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: AndyZe <andyz@utexas.edu>

• Remove __has_include statements (#1481)

• Servo: check for and enable a realtime kernel (#1464)

  • Check for and enable a realtime kernel
  • Set thread priority to 40. Link against controller_mgr.
  • Do it from the right thread

• Contributors: AndyZe, Nathan Brooks, Robert Haschke, Sebastian Jahr, Vatan Aksoy Tezer

2.5.3 (2022-07-28)

• Use kinematics plugin instead of inverse Jacobian for servo IK (#1434)
• Contributors: Wyatt Rees

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)
• Remove unnecessary rclcpp.hpp includes (#1333)
• Update Servo integration tests (#1336)
• Minor cleanup of Servo CMakeLists (#1345)
• Contributors: AndyZe, David V. Lu, Henry Moore, Jafar, Vatan Aksoy Tezer

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)
• [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>

• 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