Package Summary

Tags No category tags.
Version 2.1.0
License BSD 3-Clause
Build type AMENT_CMAKE

Repository Summary

Checkout URI
VCS Type git
VCS Version main
Last Updated 2021-02-23
CI status No Continuous Integration
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


  • Blake Anderson
  • Andy Zelenak


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

Moveit Servo

See the Running the Demos guide for installation instructions and quick-start guide

See the Servo Tutorial to get an overview about moveit_servo and learn how to set it up on your robot.


Changelog for package moveit_servo

2.1.0 (2020-11-23)

  • [maint] Wrap common cmake code in \'moveit_package()\' macro (#285)
    • New moveit_package() macro for compile flags, Windows support etc
    • Add package \'moveit_common\' as build dependency for moveit_package()
    • Added -Wno-overloaded-virtual compiler flag for moveit_ros_planners_ompl
  • [fix] Servo runtime issues (#257, #265, #294)
  • [ros2-migration] Port moveit_servo to ROS 2 (#248)
    • Ports the source from MoveIt
    • Adds examples (C++ interface, composable node interface, teleoperation demo for gamepad)
    • Adds integration and unit tests
  • Contributors: Adam Pettinger, Henning Kayser, Lior Lustgarten, Tyler Weaver

1.1.1 (2020-10-13)

  • [feature] A library for servoing toward a moving pose (#2203)
  • [feature] Refactor velocity limit enforcement and add a unit test (#2260)
  • [fix] Servo thread interruption (#2314)
  • [fix] Servo heap-buffer-overflow bug (#2307)
  • [maint] Cleanup MSA includes (#2351)
  • Contributors: AndyZe, Robert Haschke, Tyler Weaver

1.1.0 (2020-09-04)

  • [feature] Update last_sent_command_ at ServoCalcs start (#2249)
  • [feature] Add a utility to print collision pairs (#2275)
  • [fix] Various fixes for upcoming Noetic release (#2180)
  • [maint] add soname version to moveit_servo (#2266)
  • [maint] delete python integration tests (#2186)
  • Contributors: AdamPettinger, AndyZe, Robert Haschke, Ruofan Xu, Tyler Weaver, v4hn

1.0.6 (2020-08-19)

  • [feature] A ROS service to reset the Servo status (#2246)
  • [feature] Check collisions during joint motions, too (#2204)
  • [fix] Correctly set velocities to zero when stale (#2255)
  • [maint] Remove unused yaml param (#2232)
  • [maint] Adapt repository for splitted moveit_resources layout (#2199)
  • [maint] Migrate to clang-format-10
  • Contributors: AndyZe, Robert Haschke, Ruofan Xu, Michael G

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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