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

2.8.0 (2023-09-10)

• [Servo] Fix Twist transformation (#2311)

• [Servo] Add additional info about twist frame conversion (#2295)

  • Update docstring + warning for twist frame conversion

  * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> * Suppress old-style-cast warnings ---------Co-authored-by: AndyZe <andyz@utexas.edu>

• [Servo] Refactoring servo (#2224)

• Replaced numbers with SystemDefaultsQos() (#2271)

• Fix Servo suddenHalt() to halt at previous state, not current (#2229)

• Fix the launching of Servo as a node component (#2194)

  • Fix the launching of Servo as a node component

  * Comment improvement Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Add launch argument ---------Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

• Revert central differencing calculation in servo (#2203)

  • Revert central differencing calculation in servo
  • current_joint_state_ to internal_joint_state_

• Fix servo speed scaling YAML parameters (#2211)

• Reset Servo filters when starting (#2186)

• [Servo] Move [enforcePositionLimits]{.title-ref} and [enforceVelocityLimits]{.title-ref} to utilities (#2180)

  • Move limit enforcing functions to utilities
  • Fix comments
  • Make clock const
  • Remove clock from enforcePositionLimit
  • Remove clock usage from transformTwistToPlanningFrame and applyJointUpdates
  • Remove clock from vvelocityScalingFactorForSingularity
  • Fix tests
  • Cleanups + clang-tidy
  • Minor cleanups
  • Log output formatting

• Change servo collision checking parameters to dynamically update (#2183)

• Contributors: AndyZe, Sebastian Castro, Shobuj Paul, V Mohammed Ibrahim

2.7.4 (2023-05-18)

• [Servo] Remove soon-to-be obsolete functions (#2175)
  • Remove unused functions
  • Remove drift and control dimension client in tests
  • Remove gazebo specific message redundancy
• [Servo] Restore namespace to parameters (#2171)
  • Add namespace to parameters
  • Minor cleanups
• [Servo] Fix stop callback, delete pause/unpause mode (#2139) Co-authored-by: AndyZe <andyz@utexas.edu>

• [Servo] Make conversion operations into free functions (#2149)

  • Move conversion operations to free functions
  • Optimizations
  • Fix const references
  • Readability updates
  • Remove unused header

  * Comment update ---------Co-authored-by: AndyZe <andyz@utexas.edu>

• [Servo] Avoid unnecessary checks for initializing [ik_base_to_tip_frame]{.title-ref} (#2146)

  • Avoid unnecessary check
  • Make ik_base_to_tip_frame_ local
  • Remove use_inv_jacobian flag
  • Use nullptr instead of NULL
  • Alphabetize + clang-tidy
  • Remove unused header

• [Servo] Update MoveIt Servo to use generate_parameter_library (#2096)

  • Add generate_parameter_library as dependency
  • Add parameters file
  • Update parameters file
  • Fix one_of syntax
  • Add parameter generation
  • Include servo param header
  • Test if parameters are loaded
  • Make servo_node partially use ParamListener
  • Make Servo partially use ParamListener
  • Make ServoCalcs partially use ParamListener
  • Fix frame name
  • Handle parameter updates
  • Remove old param lib dependency in CollisionCheck
  • Remove old param lib dependency in ServoCalcs
  • Remove old param lib dependency in Servo
  • Remove old param lib dependency in ServoNode
  • Remove old parameter librarysources
  • Remove parameter_descriptor_builder sources
  • Update parameter library header name
  • Formatting
  • Remove old param lib headers
  • Add parameter to enable/disable continous parameter update check
  • Update pose tracking demo
  • Fix launch time parameter loading for pose tracking
  • Move PID parameters to generate_parameter_library
  • Fix launch time parameter loading for servo example
  • Fix unit tests
  • Fix interface test
  • Fix pose tracking test
  • Redorder member variable initialization
  • Cleanup
  • Group parameters
  • Make parameter listener const
  • Revert disabled lint tests
  • Fix issues from rebase
  • Apply performance suggestion from CI
  • Apply variable naming suggestion from CI
  • Apply pass params by reference suggestion by CI
  • Apply review suggestions
  • Apply review suggestions
  • Remove unused parameter
  • Change parameter listener to unique_ptr
  • Add validations for some parameters
  • Changes from review

  * Make docstring more informative Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> - Change validation failure from warning to error - Fix parameter loading in test launch files - Remove defaults for robot specific params - Update description for params with no default value - Pass by reference

  * Clang-tidy Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> ---------Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: AndyZe <andyz@utexas.edu>

• Contributors: Sebastian Castro, V Mohammed Ibrahim

2.7.3 (2023-04-24)

• Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (#2135)
• Document pausing better (#2128)
• [Servo] Make [applyJointUpdate()]{.title-ref} a free function (#2121)
  • Change variable names for improved readability
  • Fix issues from rebase
  • Move applyJointUpdate() to utilities
  • Fix comment
  • Fix old-style-cast
  • Use pluginlib::UniquePtr for smoothing class
• Contributors: AndyZe, Jafar, V Mohammed Ibrahim

2.7.2 (2023-04-18)

• Switch from qos_event.hpp to event_handler.hpp (#2111)

  • Switch from qos_event.hpp to event_handler.hpp
  • moveit_common: Add a cmake interface library to keep humble support on main
  • Include qos_event.hpp or event_handler.hpp depending on the ROS 2 version
  • Fix ament_lint_cmake
  • Fix clang-tidy
  • PRIVATE linking in some cases

  * Update moveit_common/cmake/moveit_package.cmake Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com> - Fix servo and cleanup excessive CMake variable usage - Cleanup & make compiling - Small variable naming and const cleanup - Restore OpenCV linking - Public/private linking fixup

  * Revert \"Restore OpenCV linking\" This reverts commit 57a9efa806e59223e35a1f7e998d7b52f930c263. ---------Co-authored-by: JafarAbdi <jafar.uruc@gmail.com> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Co-authored-by: Chris Thrasher <chrisjthrasher@gmail.com>

• [Servo] Document the new low-pass filter param (#2114)

  • [Servo] Document the new low-pass filter param
  • More intuitive parameter ordering

• Update pre-commit (#2094)

• Compute velocity using central difference (#2080)

  • Compute velocity using central difference
  • Update calculation
  • Save and use x(t - dt)
  • Fix saving x(t - dt)
  • Fix confusing comment.

  * Explainer comment for last_joint_state_ Co-authored-by: AndyZe <andyz@utexas.edu> - Change x to q in comments to signify joint domain

  * Avoid pass-by-reference for basic types ---------Co-authored-by: AndyZe <andyz@utexas.edu>

• Contributors: AndyZe, Sebastian Jahr, Shobuj Paul, V Mohammed Ibrahim

2.7.1 (2023-03-23)

• Add callback for velocity scaling override + fix params namespace not being set (#2021)
• Contributors: Sebastian Castro

2.7.0 (2023-01-29)

• Merge PR #1712: fix clang compiler warnings + stricter CI
• converted characters from string format to character format (#1881)
• Update the Servo dependency on realtime_tools (#1791)
  • Update the Servo dependency on realtime_tools
  • Update .repos
  • Add comment
• Fix more clang warnings
• Fix warning: passing by value
• Cleanup msg includes: Use C++ instead of C header (#1844)
• Fix BSD license in package.xml (#1796)
  • fix BSD license in package.xml
  • this must also be spdx compliant
• Minimize use of [this->]{.title-ref} (#1784) It\'s often unnecessary. MoveIt already avoids this in most cases so this PR better cements that existing pattern.
• Enable [-Wold-style-cast]{.title-ref} (#1770)
• Add braces around blocks. (#999)
• Use <> for non-local headers (#1734) Unless a header lives in the same or a child directory of the file including it, it\'s recommended to use <> for the #include statement. For more information, see the C++ Core Guidelines item SF.12 https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else

• Servo: Check frames are known before getting their TFs (#612)

  • Check frames are known before getting their TFs
  • Allow empty command frame - fixes tests

  * Address Jere\'s feedback Co-authored-by: AndyZe <andyz@utexas.edu>

• Fix clang-tidy issues (#1706)

  • Blindly apply automatic clang-tidy fixes
  • Exemplarily cleanup a few automatic clang-tidy fixes
  • Clang-tidy fixups
  • Missed const-ref fixups
  • Fix unsupported non-const -> const

  * More fixes Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

• Remove unused function in Servo (#1709)

• Contributors: AdamPettinger, AndyZe, Chris Thrasher, Christian Henkel, Cory Crean, Henning Kayser, Robert Haschke, Sameer Gupta

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