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

2.5.1 (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