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Package Summary

Tags No category tags.
Version 2.11.0
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 2024-10-14
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

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)
    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)
  • Fix error message text in servo.cpp (#2769)
  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>
  • [Servo] Fix collision checking with attached objects (#2747)
  • Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
  • CMake format and lint in pre-commit (#2683)
  • Attempt to use SCHED_FIFO for Servo regardless of RT kernel (#2653)
    • Attempt to use SCHED_FIFO for Servo regardless of RT kernel

    * Update warning message if Servo fails to use SCHED_FIFO Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo_node.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Acceleration Limited Smoothing Plugin for Servo (#2651)
  • Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver

2.9.0 (2024-01-09)

  • Add command queue to servo to account for latency (#2594)
    • add command queue to servo to account for latency
    • run pre-commit
    • fix unsigned compare

    * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Fix wording Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • add comments and change variable names
    • add checks to determine what state information should be published
    • change latency parameter name
    • factor command queue out of servo instance
    • update demos
    • needs clean up but working well
    • deal with duplicate timestamps for sim
    • add acceleration limiting smoothing
    • add timeout check in filter
    • factor out robot state from servo call
    • update comments in smoothing pluin
    • fix tests
    • change velocity calculation to make interpolation not overshoot

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/demos/cpp_interface/demo_joint_jog.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • fix time calculation
    • add check to ensure time interval is positive
    • simplify demos
    • wait for first robot state before starting servo loop
    • add comments to acceleration filter
    • fix wait time units
    • fix logic bug in smoothHalt and remove stopping point from trajectory message. Still some overshoot.
    • add acceleration limit to servo
    • remove acceleration filter
    • remove other filter files from moveit_core
    • add doc string and basic clean up
    • refactor getRobotState to utils and add a test
    • make some things const and fix comments
    • use joint_limts params to get robot acceleration limits
    • update demo config and set velocities in demos
    • fix acceleration calculation
    • apply collision_velocity_scale_ in smooth hault, add comments, and rename variables
    • use bounds on scaling factors in [0... 1]
    • remove joint_acceleration parameter
    • add test for jointLimitAccelerationScaling
    • refactor velocity and acceleration scaling into common function
    • general clean up, add comments, fix parameters, set timestamp in updateSlidingWindow, etc.

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • remove override_acceleration_scaling_factor
    • fix variable name
    • enable use_smoothing in demos

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • add current state to command queue if it is empty. This is needed since the time stamp is set in the updateSlidingWindow function now.
    • remove acceleration smoothing
    • revert jointLimitVelocityScalingFactor refactor

    * 1) fix spelling 2) add comments 3) make sure rolling_window always has current state if no command generated 4) fix smooth hault: stop command was not generated if smoothing disabled 5) call resetSmoothing when there are no commands ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • MoveIt Servo should respect the AllowedCollisionMatrix (#2605)
    • MoveIt Servo should respect the AllowedCollisionMatrix
    • Formatting
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Update ros2_control usage (#2620)
    • Update ros2_control usage
    • Update xacro file
  • Making the error messages of moveit_servo::validateParams more expressive. (#2602)
  • Make [moveit_servo]{.title-ref} listen to Octomap updates (#2601)
    • Start servo's world geometry monitor

    * Typo fix ---------Co-authored-by: Amal Nanavati <<amaln@cs.washington.edu>>

  • Replaced single value joint_limit_margin with list of joint_limit_margin (#2576)
    • Replaced joint_limit_margin with list of margins: joint_limit_margin. Enabling setting individual margins for each joint.
    • Dimension comment update
    • Adding a dimension check within the validateParams() function of servo.cpp to give a clear error message if the size of joint_limit_margis does not match the number of joints of the move_group

    * Formatting fix Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Fix panda_simulated_config.yaml ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Node logging in moveit_core (#2503)
  • Fix velocity scaling factor calculations and support multi-DOF joints in Servo (#2540)
  • Ensure to reset the smoothing plugin when resuming Servo (#2537)
  • [Servo] Change planning frame to base frame of active joint subgroup (#2515)
  • Fix threading issue for collision velocity scaling in MoveIt Servo (#2517)
  • Add distance to servo collision checker requests (#2511)
  • Use node logging in moveit_ros (#2482)
  • Smoothing plugin API update and bug fix (#2470)
    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • Link against Eigen, not tf2_eigen
    • Don't resize every time
    • Don't reset the smoother_ every time
    • Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <<ibrahimjkd@gmail.com>> Co-authored-by: V Mohammed Ibrahim <<12377945+ibrahiminfinite@users.noreply.github.com>>

  • Fix levels in servo logs (#2440)
  • Enable using a subgroup of the move group in servo (#2396)
    • Enable using a subgroup of the move group in servo
    • Remove unnecessary validations since the param is const

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • Don't copy joints if subgroup == move group
    • Re-add params_valid in validateParams
    • Generalize active subgroup delta calculation
    • Add more efficient move group joint position lookup
    • Create subgroup map in the constructor

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Fix Servo singularity scaling unit tests (#2414)
    • Fix Servo singularity scaling unit tests
    • Fix Servo singularity scaling unit tests
    • Simplify tests
    • updateLinkTransforms is not needed after all
  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Set static parameters as [read-only]{.title-ref} (#2381)
    • Make some params read-only + grouping

    * Apply suggestions from code review Co-authored-by: AndyZe <<andyz@utexas.edu>> * Allow dynamic initialization of velocity scales ---------Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Fix bugs when halting for collision + transforming commands to planning frame (#2350)
  • Contributors: Amal Nanavati, AndyZe, Erik Holum, Marq Rasmussen, Nils-Christian Iseke, Paul Gesel, Sebastian Castro, Sebastian Jahr, Tyler Weaver, V Mohammed Ibrahim

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 Görner, Nathan Brooks, Nisala Kalupahana, Tyler Weaver, Vatan Aksoy Tezer, luisrayas3, Lior Lustgarten

2.2.1 (2021-07-12)

  • moveit_servo: Add a parameter to halt only joints that violate position limits (#515) Add halt_all_joints_in_joint_mode & halt_all_joints_in_cartesian_mode parameters to decide whether to halt all joints or some of them in case of joint limit violation
  • Contributors: Jafar Abdi

2.2.0 (2021-06-30)

  • Allow a negative joint margin (#501)
  • Move servo doc and examples to moveit2_tutorials (#486)
  • Remove faulty gtest include (#526)
  • Fix segfault when publish_joint_velocities set to false and a joint is close to position limit (#497)
  • Enable Rolling and Galactic CI (#494)
  • [sync] MoveIt's master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4
    • Misspelled MoveIt (#2692)
    • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
    • Halt Servo command on Pose Tracking stop (#2501)
    • stop_requested_ flag clearing fix (#2537)
    • add missing include (#2519)
    • Refactor velocity bounds enforcement (#2471)
  • Contributors: AdamPettinger, AndyZe, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Michael Görner, Nathan Brooks, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, parunapu

2.1.4 (2021-05-31)

  • Delete MoveIt fake_controller_manager (#471)
  • Contributors: AndyZe

2.1.3 (2021-05-22)

  • Refactor Servo velocity bounds enforcement. Disable flaky unit tests. (#428)
  • Fix joint limit handling when velocities aren't included in robot state (#451)
  • Fix Servo logging frequency (#457)
  • Replace last ament_export_libraries macro calls with ament_export_targets (#448)
  • Contributors: AndyZe, Sebastian Jahr, Vatan Aksoy Tezer

2.1.2 (2021-04-20)

  • Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <<zelenak@picknik.ai>>
  • Unify PickNik name in copyrights (#419)
  • Contributors: Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Do not output positions at all if they are set to false (#410)
  • Update launch files to use ros2 control spawner (#405)
  • Include boost optional in pose_tracking (#406)
  • Use fake_components::GenericSystem from ros2_control (#361)
  • Fix EXPORT install in CMake (#372)
  • moveit servo: fix constructing duration from double & fix bug in insertRedundantPointsIntoTrajectory function (#374)
  • port pose tracking (#320)
  • Fix 'start_servo' service topic in demo
  • Sync main branch with MoveIt 1 from previous head https://github.com/ros-planning/moveit/commit/0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e up to https://github.com/ros-planning/moveit/commit/74b3e30db2e8683ac17b339cc124675ae52a5114
  • Protect paused_ flag, for thread safety (#2494)
  • Do not break out of loop -- need to update low pass filters (#2496)
  • [Servo] Fix initial angle error is always 0 (#2464)
  • Add an important sleep in Servo pose tracking (#2463)
  • Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
  • [feature] Low latency mode (#2401)
  • Move timer initialization down to fix potential race condition
  • Contributors: Abishalini Sivaraman, AdamPettinger, AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Nathan Brooks, Tyler Weaver

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 Görner

1.0.5 (2020-07-08)

  • [maint] Minor moveit_servo header cleanup (#2173)
  • [maint] Move and rename to moveit_ros/moveit_servo (#2165)
  • [maint] Changes before porting to ROS2 (#2151)
    • throttle warning logs
    • ROS1 Basic improvements and changes
    • Fixes to drift dimensions, singularity velocity scaling
    • tf name changes, const fixes, slight logic changes
    • Move ROS_LOG_THROTTLE_PERIOD to cpp files
    • Track staleness of joint and twist seperately
    • Ensure joint_trajectory output is always populated with something, even when no jog
    • Fix joint trajectory redundant points for gazebo pub
    • Fix crazy joint jog from bad Eigen init
    • Fix variable type in addJointIncrements()
    • Initialize last sent command in constructor
    • More explicit joint_jog_cmdand twist_stamped_cmdnames
    • Add comment clarying transform calculation / use
  • [fix] Fix access past end of array bug (#2155)
  • [maint] Remove duplicate line (#2154)
  • [maint] pragma once in jog_arm.h (#2152)
  • [feature] Simplify communication between threads (#2103)
    • get latest joint state c++ api
    • throttle warning logs
    • publish from jog calcs timer, removing redundant timer and internal messaging to main timer
    • outgoing message as pool allocated shared pointer for zero copy
    • replace jog_arm shared variables with ros pub/sub
    • use built in zero copy message passing instead of spsc_queues
    • use ros timers instead of threads in jog_arm
  • [feature] Added throttle to jogarm accel limit warning (#2141)
  • [feature] Time-based collision avoidance (#2100)
  • [fix] Fix crash on empty jog msgs (#2094)
  • [feature] Jog arm dimensions (#1724)
  • [maint] Clang-tidy fixes (#2050)
  • [feature] Keep updating joints, even while waiting for a valid command (#2027)
  • [fix] Fix param logic bug for self- and scene-collision proximity thresholds (#2022)
  • [feature] Split collision proximity threshold (#2008)
    • separate proximity threshold values for self-collisions and scene collisions
    • increase default value of scene collision proximity threshold
    • deprecate old parameters
  • [fix] Fix valid command flags (#2013)
    • Rename the 'zero command flag' variables for readability
    • Reset flags when incoming commands timeout
    • Remove debug line, clang format
  • [maint] Use default move constructor + assignment operators for MoveItCpp. (#2004)
  • [fix] Fix low-pass filter initialization (#1982)
    • Pause/stop JogArm threads using shared atomic bool variables
    • Add pause/unpause flags for jog thread
    • Verify valid joints by filtering for active joint models only
    • Remove redundant joint state increments
    • Wait for initial jog commands in main loop
  • [fix] Remove duplicate collision check in JogArm (#1986)
  • [feature] Add a binary collision check (#1978)
  • [feature] Publish more detailed warnings (#1915)
  • [feature] Use wait_for_service() to fix flaky tests (#1946)
  • [maint] Fix versioning (#1948)
  • [feature] SRDF velocity and acceleration limit enforcement (#1863)
  • [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
  • [fix] JogArm C++ API fixes (#1911)
  • [feature] A ROS service to enable task redundancy (#1855)
  • [fix] Fix segfault with uninitialized JogArm thread (#1882)
  • [feature] Add warnings to moveit_jog_arm low pass filter (#1872)
  • [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (#1607)
  • [fix] Fix initial end effector transform jump (#1871)
  • [feature] Rework the halt msg functionality (#1868)
  • [fix] Various small fixes (#1859)
  • [maint] Improve formatting in comments
  • [fix] Prevent a crash at velocity limit (#1837)
  • [feature] Remove scale/joint parameter (#1838)
  • [feature] Pass planning scene monitor into cpp interface (#1849)
  • [maint] Move attribution below license file, standardize with MoveIt (#1847)
  • [maint] Reduce console output warnings (#1845)
  • [fix] Fix command frame transform computation (#1842)
  • [maint] Fix dependencies + catkin_lint issues
  • [feature] Update link transforms before calling checkCollision on robot state in jog_arm (#1825)
  • [feature] Add atomic bool flags for terminating JogArm threads gracefully (#1816)
  • [feature] Get transforms from RobotState instead of TF (#1803)
  • [feature] Add a C++ API (#1763)
  • [maint] Fix unused parameter warnings (#1773)
  • [maint] Update license formatting (#1764)
  • [maint] Unify jog_arm package to be C++14 (#1762)
  • [fix] Fix jog_arm segfault (#1692)
  • [fix] Fix double mutex unlock (#1672)
  • [maint] Rename jog_arm->moveit_jog_arm (#1663)
  • [feature] Do not wait for command msg to start spinning (#1603)
  • [maint] Update jog_arm README with rviz config (#1614)
  • [maint] Switch from include guards to pragma once (#1615)
  • [maint] Separate moveit_experimental packages (#1606)
  • [feature] Use UR5 example (#1605)
  • [feature] Sudden stop for critical issues, filtered deceleration otherwise (#1468)
  • [feature] Change 2nd order Butterworth low pass filter to 1st order (#1483)
  • [maint] Remove ! from MoveIt name (#1590)
  • [feature] JogArm: Remove dependency on move_group node (#1569)
  • [fix] Fix jog arm CI integration test (#1466)
  • [feature] A jogging PR for Melodic. (#1360)
    • Allow for joints in the msg that are not part of the MoveGroup.
    • Switching to the Panda robot model for tests.
    • Blacklist the test as I can't get it to pass Travis (fine locally).
    • Throttling all warnings. Fix build warning re. unit vs int comparison.
    • Continue to publish commands even if stationary
    • Scale for 'unitless' commands is not tied to publish_period.
    • New function name for checkIfJointsWithinBounds()
    • Configure the number of msgs to publish when stationary.
    • Run jog_calcs at the same rate as the publishing thread.
    • Better comments in config file, add spacenav_node dependency
    • Add spacenav_node to CMakeLists.
  • Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

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Plugins

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Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.11.0
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 2024-10-14
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

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)
    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)
  • Fix error message text in servo.cpp (#2769)
  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>
  • [Servo] Fix collision checking with attached objects (#2747)
  • Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
  • CMake format and lint in pre-commit (#2683)
  • Attempt to use SCHED_FIFO for Servo regardless of RT kernel (#2653)
    • Attempt to use SCHED_FIFO for Servo regardless of RT kernel

    * Update warning message if Servo fails to use SCHED_FIFO Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo_node.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Acceleration Limited Smoothing Plugin for Servo (#2651)
  • Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver

2.9.0 (2024-01-09)

  • Add command queue to servo to account for latency (#2594)
    • add command queue to servo to account for latency
    • run pre-commit
    • fix unsigned compare

    * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Fix wording Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • add comments and change variable names
    • add checks to determine what state information should be published
    • change latency parameter name
    • factor command queue out of servo instance
    • update demos
    • needs clean up but working well
    • deal with duplicate timestamps for sim
    • add acceleration limiting smoothing
    • add timeout check in filter
    • factor out robot state from servo call
    • update comments in smoothing pluin
    • fix tests
    • change velocity calculation to make interpolation not overshoot

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/demos/cpp_interface/demo_joint_jog.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • fix time calculation
    • add check to ensure time interval is positive
    • simplify demos
    • wait for first robot state before starting servo loop
    • add comments to acceleration filter
    • fix wait time units
    • fix logic bug in smoothHalt and remove stopping point from trajectory message. Still some overshoot.
    • add acceleration limit to servo
    • remove acceleration filter
    • remove other filter files from moveit_core
    • add doc string and basic clean up
    • refactor getRobotState to utils and add a test
    • make some things const and fix comments
    • use joint_limts params to get robot acceleration limits
    • update demo config and set velocities in demos
    • fix acceleration calculation
    • apply collision_velocity_scale_ in smooth hault, add comments, and rename variables
    • use bounds on scaling factors in [0... 1]
    • remove joint_acceleration parameter
    • add test for jointLimitAccelerationScaling
    • refactor velocity and acceleration scaling into common function
    • general clean up, add comments, fix parameters, set timestamp in updateSlidingWindow, etc.

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • remove override_acceleration_scaling_factor
    • fix variable name
    • enable use_smoothing in demos

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • add current state to command queue if it is empty. This is needed since the time stamp is set in the updateSlidingWindow function now.
    • remove acceleration smoothing
    • revert jointLimitVelocityScalingFactor refactor

    * 1) fix spelling 2) add comments 3) make sure rolling_window always has current state if no command generated 4) fix smooth hault: stop command was not generated if smoothing disabled 5) call resetSmoothing when there are no commands ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • MoveIt Servo should respect the AllowedCollisionMatrix (#2605)
    • MoveIt Servo should respect the AllowedCollisionMatrix
    • Formatting
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Update ros2_control usage (#2620)
    • Update ros2_control usage
    • Update xacro file
  • Making the error messages of moveit_servo::validateParams more expressive. (#2602)
  • Make [moveit_servo]{.title-ref} listen to Octomap updates (#2601)
    • Start servo's world geometry monitor

    * Typo fix ---------Co-authored-by: Amal Nanavati <<amaln@cs.washington.edu>>

  • Replaced single value joint_limit_margin with list of joint_limit_margin (#2576)
    • Replaced joint_limit_margin with list of margins: joint_limit_margin. Enabling setting individual margins for each joint.
    • Dimension comment update
    • Adding a dimension check within the validateParams() function of servo.cpp to give a clear error message if the size of joint_limit_margis does not match the number of joints of the move_group

    * Formatting fix Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Fix panda_simulated_config.yaml ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Node logging in moveit_core (#2503)
  • Fix velocity scaling factor calculations and support multi-DOF joints in Servo (#2540)
  • Ensure to reset the smoothing plugin when resuming Servo (#2537)
  • [Servo] Change planning frame to base frame of active joint subgroup (#2515)
  • Fix threading issue for collision velocity scaling in MoveIt Servo (#2517)
  • Add distance to servo collision checker requests (#2511)
  • Use node logging in moveit_ros (#2482)
  • Smoothing plugin API update and bug fix (#2470)
    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • Link against Eigen, not tf2_eigen
    • Don't resize every time
    • Don't reset the smoother_ every time
    • Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <<ibrahimjkd@gmail.com>> Co-authored-by: V Mohammed Ibrahim <<12377945+ibrahiminfinite@users.noreply.github.com>>

  • Fix levels in servo logs (#2440)
  • Enable using a subgroup of the move group in servo (#2396)
    • Enable using a subgroup of the move group in servo
    • Remove unnecessary validations since the param is const

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • Don't copy joints if subgroup == move group
    • Re-add params_valid in validateParams
    • Generalize active subgroup delta calculation
    • Add more efficient move group joint position lookup
    • Create subgroup map in the constructor

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Fix Servo singularity scaling unit tests (#2414)
    • Fix Servo singularity scaling unit tests
    • Fix Servo singularity scaling unit tests
    • Simplify tests
    • updateLinkTransforms is not needed after all
  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Set static parameters as [read-only]{.title-ref} (#2381)
    • Make some params read-only + grouping

    * Apply suggestions from code review Co-authored-by: AndyZe <<andyz@utexas.edu>> * Allow dynamic initialization of velocity scales ---------Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Fix bugs when halting for collision + transforming commands to planning frame (#2350)
  • Contributors: Amal Nanavati, AndyZe, Erik Holum, Marq Rasmussen, Nils-Christian Iseke, Paul Gesel, Sebastian Castro, Sebastian Jahr, Tyler Weaver, V Mohammed Ibrahim

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 Görner, Nathan Brooks, Nisala Kalupahana, Tyler Weaver, Vatan Aksoy Tezer, luisrayas3, Lior Lustgarten

2.2.1 (2021-07-12)

  • moveit_servo: Add a parameter to halt only joints that violate position limits (#515) Add halt_all_joints_in_joint_mode & halt_all_joints_in_cartesian_mode parameters to decide whether to halt all joints or some of them in case of joint limit violation
  • Contributors: Jafar Abdi

2.2.0 (2021-06-30)

  • Allow a negative joint margin (#501)
  • Move servo doc and examples to moveit2_tutorials (#486)
  • Remove faulty gtest include (#526)
  • Fix segfault when publish_joint_velocities set to false and a joint is close to position limit (#497)
  • Enable Rolling and Galactic CI (#494)
  • [sync] MoveIt's master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4
    • Misspelled MoveIt (#2692)
    • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
    • Halt Servo command on Pose Tracking stop (#2501)
    • stop_requested_ flag clearing fix (#2537)
    • add missing include (#2519)
    • Refactor velocity bounds enforcement (#2471)
  • Contributors: AdamPettinger, AndyZe, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Michael Görner, Nathan Brooks, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, parunapu

2.1.4 (2021-05-31)

  • Delete MoveIt fake_controller_manager (#471)
  • Contributors: AndyZe

2.1.3 (2021-05-22)

  • Refactor Servo velocity bounds enforcement. Disable flaky unit tests. (#428)
  • Fix joint limit handling when velocities aren't included in robot state (#451)
  • Fix Servo logging frequency (#457)
  • Replace last ament_export_libraries macro calls with ament_export_targets (#448)
  • Contributors: AndyZe, Sebastian Jahr, Vatan Aksoy Tezer

2.1.2 (2021-04-20)

  • Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <<zelenak@picknik.ai>>
  • Unify PickNik name in copyrights (#419)
  • Contributors: Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Do not output positions at all if they are set to false (#410)
  • Update launch files to use ros2 control spawner (#405)
  • Include boost optional in pose_tracking (#406)
  • Use fake_components::GenericSystem from ros2_control (#361)
  • Fix EXPORT install in CMake (#372)
  • moveit servo: fix constructing duration from double & fix bug in insertRedundantPointsIntoTrajectory function (#374)
  • port pose tracking (#320)
  • Fix 'start_servo' service topic in demo
  • Sync main branch with MoveIt 1 from previous head https://github.com/ros-planning/moveit/commit/0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e up to https://github.com/ros-planning/moveit/commit/74b3e30db2e8683ac17b339cc124675ae52a5114
  • Protect paused_ flag, for thread safety (#2494)
  • Do not break out of loop -- need to update low pass filters (#2496)
  • [Servo] Fix initial angle error is always 0 (#2464)
  • Add an important sleep in Servo pose tracking (#2463)
  • Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
  • [feature] Low latency mode (#2401)
  • Move timer initialization down to fix potential race condition
  • Contributors: Abishalini Sivaraman, AdamPettinger, AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Nathan Brooks, Tyler Weaver

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 Görner

1.0.5 (2020-07-08)

  • [maint] Minor moveit_servo header cleanup (#2173)
  • [maint] Move and rename to moveit_ros/moveit_servo (#2165)
  • [maint] Changes before porting to ROS2 (#2151)
    • throttle warning logs
    • ROS1 Basic improvements and changes
    • Fixes to drift dimensions, singularity velocity scaling
    • tf name changes, const fixes, slight logic changes
    • Move ROS_LOG_THROTTLE_PERIOD to cpp files
    • Track staleness of joint and twist seperately
    • Ensure joint_trajectory output is always populated with something, even when no jog
    • Fix joint trajectory redundant points for gazebo pub
    • Fix crazy joint jog from bad Eigen init
    • Fix variable type in addJointIncrements()
    • Initialize last sent command in constructor
    • More explicit joint_jog_cmdand twist_stamped_cmdnames
    • Add comment clarying transform calculation / use
  • [fix] Fix access past end of array bug (#2155)
  • [maint] Remove duplicate line (#2154)
  • [maint] pragma once in jog_arm.h (#2152)
  • [feature] Simplify communication between threads (#2103)
    • get latest joint state c++ api
    • throttle warning logs
    • publish from jog calcs timer, removing redundant timer and internal messaging to main timer
    • outgoing message as pool allocated shared pointer for zero copy
    • replace jog_arm shared variables with ros pub/sub
    • use built in zero copy message passing instead of spsc_queues
    • use ros timers instead of threads in jog_arm
  • [feature] Added throttle to jogarm accel limit warning (#2141)
  • [feature] Time-based collision avoidance (#2100)
  • [fix] Fix crash on empty jog msgs (#2094)
  • [feature] Jog arm dimensions (#1724)
  • [maint] Clang-tidy fixes (#2050)
  • [feature] Keep updating joints, even while waiting for a valid command (#2027)
  • [fix] Fix param logic bug for self- and scene-collision proximity thresholds (#2022)
  • [feature] Split collision proximity threshold (#2008)
    • separate proximity threshold values for self-collisions and scene collisions
    • increase default value of scene collision proximity threshold
    • deprecate old parameters
  • [fix] Fix valid command flags (#2013)
    • Rename the 'zero command flag' variables for readability
    • Reset flags when incoming commands timeout
    • Remove debug line, clang format
  • [maint] Use default move constructor + assignment operators for MoveItCpp. (#2004)
  • [fix] Fix low-pass filter initialization (#1982)
    • Pause/stop JogArm threads using shared atomic bool variables
    • Add pause/unpause flags for jog thread
    • Verify valid joints by filtering for active joint models only
    • Remove redundant joint state increments
    • Wait for initial jog commands in main loop
  • [fix] Remove duplicate collision check in JogArm (#1986)
  • [feature] Add a binary collision check (#1978)
  • [feature] Publish more detailed warnings (#1915)
  • [feature] Use wait_for_service() to fix flaky tests (#1946)
  • [maint] Fix versioning (#1948)
  • [feature] SRDF velocity and acceleration limit enforcement (#1863)
  • [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
  • [fix] JogArm C++ API fixes (#1911)
  • [feature] A ROS service to enable task redundancy (#1855)
  • [fix] Fix segfault with uninitialized JogArm thread (#1882)
  • [feature] Add warnings to moveit_jog_arm low pass filter (#1872)
  • [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (#1607)
  • [fix] Fix initial end effector transform jump (#1871)
  • [feature] Rework the halt msg functionality (#1868)
  • [fix] Various small fixes (#1859)
  • [maint] Improve formatting in comments
  • [fix] Prevent a crash at velocity limit (#1837)
  • [feature] Remove scale/joint parameter (#1838)
  • [feature] Pass planning scene monitor into cpp interface (#1849)
  • [maint] Move attribution below license file, standardize with MoveIt (#1847)
  • [maint] Reduce console output warnings (#1845)
  • [fix] Fix command frame transform computation (#1842)
  • [maint] Fix dependencies + catkin_lint issues
  • [feature] Update link transforms before calling checkCollision on robot state in jog_arm (#1825)
  • [feature] Add atomic bool flags for terminating JogArm threads gracefully (#1816)
  • [feature] Get transforms from RobotState instead of TF (#1803)
  • [feature] Add a C++ API (#1763)
  • [maint] Fix unused parameter warnings (#1773)
  • [maint] Update license formatting (#1764)
  • [maint] Unify jog_arm package to be C++14 (#1762)
  • [fix] Fix jog_arm segfault (#1692)
  • [fix] Fix double mutex unlock (#1672)
  • [maint] Rename jog_arm->moveit_jog_arm (#1663)
  • [feature] Do not wait for command msg to start spinning (#1603)
  • [maint] Update jog_arm README with rviz config (#1614)
  • [maint] Switch from include guards to pragma once (#1615)
  • [maint] Separate moveit_experimental packages (#1606)
  • [feature] Use UR5 example (#1605)
  • [feature] Sudden stop for critical issues, filtered deceleration otherwise (#1468)
  • [feature] Change 2nd order Butterworth low pass filter to 1st order (#1483)
  • [maint] Remove ! from MoveIt name (#1590)
  • [feature] JogArm: Remove dependency on move_group node (#1569)
  • [fix] Fix jog arm CI integration test (#1466)
  • [feature] A jogging PR for Melodic. (#1360)
    • Allow for joints in the msg that are not part of the MoveGroup.
    • Switching to the Panda robot model for tests.
    • Blacklist the test as I can't get it to pass Travis (fine locally).
    • Throttling all warnings. Fix build warning re. unit vs int comparison.
    • Continue to publish commands even if stationary
    • Scale for 'unitless' commands is not tied to publish_period.
    • New function name for checkIfJointsWithinBounds()
    • Configure the number of msgs to publish when stationary.
    • Run jog_calcs at the same rate as the publishing thread.
    • Better comments in config file, add spacenav_node dependency
    • Add spacenav_node to CMakeLists.
  • Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.11.0
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 2024-10-14
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

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)
    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)
  • Fix error message text in servo.cpp (#2769)
  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>
  • [Servo] Fix collision checking with attached objects (#2747)
  • Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
  • CMake format and lint in pre-commit (#2683)
  • Attempt to use SCHED_FIFO for Servo regardless of RT kernel (#2653)
    • Attempt to use SCHED_FIFO for Servo regardless of RT kernel

    * Update warning message if Servo fails to use SCHED_FIFO Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo_node.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Acceleration Limited Smoothing Plugin for Servo (#2651)
  • Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver

2.9.0 (2024-01-09)

  • Add command queue to servo to account for latency (#2594)
    • add command queue to servo to account for latency
    • run pre-commit
    • fix unsigned compare

    * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Fix wording Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • add comments and change variable names
    • add checks to determine what state information should be published
    • change latency parameter name
    • factor command queue out of servo instance
    • update demos
    • needs clean up but working well
    • deal with duplicate timestamps for sim
    • add acceleration limiting smoothing
    • add timeout check in filter
    • factor out robot state from servo call
    • update comments in smoothing pluin
    • fix tests
    • change velocity calculation to make interpolation not overshoot

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/demos/cpp_interface/demo_joint_jog.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • fix time calculation
    • add check to ensure time interval is positive
    • simplify demos
    • wait for first robot state before starting servo loop
    • add comments to acceleration filter
    • fix wait time units
    • fix logic bug in smoothHalt and remove stopping point from trajectory message. Still some overshoot.
    • add acceleration limit to servo
    • remove acceleration filter
    • remove other filter files from moveit_core
    • add doc string and basic clean up
    • refactor getRobotState to utils and add a test
    • make some things const and fix comments
    • use joint_limts params to get robot acceleration limits
    • update demo config and set velocities in demos
    • fix acceleration calculation
    • apply collision_velocity_scale_ in smooth hault, add comments, and rename variables
    • use bounds on scaling factors in [0... 1]
    • remove joint_acceleration parameter
    • add test for jointLimitAccelerationScaling
    • refactor velocity and acceleration scaling into common function
    • general clean up, add comments, fix parameters, set timestamp in updateSlidingWindow, etc.

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • remove override_acceleration_scaling_factor
    • fix variable name
    • enable use_smoothing in demos

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • add current state to command queue if it is empty. This is needed since the time stamp is set in the updateSlidingWindow function now.
    • remove acceleration smoothing
    • revert jointLimitVelocityScalingFactor refactor

    * 1) fix spelling 2) add comments 3) make sure rolling_window always has current state if no command generated 4) fix smooth hault: stop command was not generated if smoothing disabled 5) call resetSmoothing when there are no commands ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • MoveIt Servo should respect the AllowedCollisionMatrix (#2605)
    • MoveIt Servo should respect the AllowedCollisionMatrix
    • Formatting
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Update ros2_control usage (#2620)
    • Update ros2_control usage
    • Update xacro file
  • Making the error messages of moveit_servo::validateParams more expressive. (#2602)
  • Make [moveit_servo]{.title-ref} listen to Octomap updates (#2601)
    • Start servo's world geometry monitor

    * Typo fix ---------Co-authored-by: Amal Nanavati <<amaln@cs.washington.edu>>

  • Replaced single value joint_limit_margin with list of joint_limit_margin (#2576)
    • Replaced joint_limit_margin with list of margins: joint_limit_margin. Enabling setting individual margins for each joint.
    • Dimension comment update
    • Adding a dimension check within the validateParams() function of servo.cpp to give a clear error message if the size of joint_limit_margis does not match the number of joints of the move_group

    * Formatting fix Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Fix panda_simulated_config.yaml ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Node logging in moveit_core (#2503)
  • Fix velocity scaling factor calculations and support multi-DOF joints in Servo (#2540)
  • Ensure to reset the smoothing plugin when resuming Servo (#2537)
  • [Servo] Change planning frame to base frame of active joint subgroup (#2515)
  • Fix threading issue for collision velocity scaling in MoveIt Servo (#2517)
  • Add distance to servo collision checker requests (#2511)
  • Use node logging in moveit_ros (#2482)
  • Smoothing plugin API update and bug fix (#2470)
    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • Link against Eigen, not tf2_eigen
    • Don't resize every time
    • Don't reset the smoother_ every time
    • Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <<ibrahimjkd@gmail.com>> Co-authored-by: V Mohammed Ibrahim <<12377945+ibrahiminfinite@users.noreply.github.com>>

  • Fix levels in servo logs (#2440)
  • Enable using a subgroup of the move group in servo (#2396)
    • Enable using a subgroup of the move group in servo
    • Remove unnecessary validations since the param is const

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • Don't copy joints if subgroup == move group
    • Re-add params_valid in validateParams
    • Generalize active subgroup delta calculation
    • Add more efficient move group joint position lookup
    • Create subgroup map in the constructor

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Fix Servo singularity scaling unit tests (#2414)
    • Fix Servo singularity scaling unit tests
    • Fix Servo singularity scaling unit tests
    • Simplify tests
    • updateLinkTransforms is not needed after all
  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Set static parameters as [read-only]{.title-ref} (#2381)
    • Make some params read-only + grouping

    * Apply suggestions from code review Co-authored-by: AndyZe <<andyz@utexas.edu>> * Allow dynamic initialization of velocity scales ---------Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Fix bugs when halting for collision + transforming commands to planning frame (#2350)
  • Contributors: Amal Nanavati, AndyZe, Erik Holum, Marq Rasmussen, Nils-Christian Iseke, Paul Gesel, Sebastian Castro, Sebastian Jahr, Tyler Weaver, V Mohammed Ibrahim

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 Görner, Nathan Brooks, Nisala Kalupahana, Tyler Weaver, Vatan Aksoy Tezer, luisrayas3, Lior Lustgarten

2.2.1 (2021-07-12)

  • moveit_servo: Add a parameter to halt only joints that violate position limits (#515) Add halt_all_joints_in_joint_mode & halt_all_joints_in_cartesian_mode parameters to decide whether to halt all joints or some of them in case of joint limit violation
  • Contributors: Jafar Abdi

2.2.0 (2021-06-30)

  • Allow a negative joint margin (#501)
  • Move servo doc and examples to moveit2_tutorials (#486)
  • Remove faulty gtest include (#526)
  • Fix segfault when publish_joint_velocities set to false and a joint is close to position limit (#497)
  • Enable Rolling and Galactic CI (#494)
  • [sync] MoveIt's master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4
    • Misspelled MoveIt (#2692)
    • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
    • Halt Servo command on Pose Tracking stop (#2501)
    • stop_requested_ flag clearing fix (#2537)
    • add missing include (#2519)
    • Refactor velocity bounds enforcement (#2471)
  • Contributors: AdamPettinger, AndyZe, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Michael Görner, Nathan Brooks, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, parunapu

2.1.4 (2021-05-31)

  • Delete MoveIt fake_controller_manager (#471)
  • Contributors: AndyZe

2.1.3 (2021-05-22)

  • Refactor Servo velocity bounds enforcement. Disable flaky unit tests. (#428)
  • Fix joint limit handling when velocities aren't included in robot state (#451)
  • Fix Servo logging frequency (#457)
  • Replace last ament_export_libraries macro calls with ament_export_targets (#448)
  • Contributors: AndyZe, Sebastian Jahr, Vatan Aksoy Tezer

2.1.2 (2021-04-20)

  • Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <<zelenak@picknik.ai>>
  • Unify PickNik name in copyrights (#419)
  • Contributors: Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Do not output positions at all if they are set to false (#410)
  • Update launch files to use ros2 control spawner (#405)
  • Include boost optional in pose_tracking (#406)
  • Use fake_components::GenericSystem from ros2_control (#361)
  • Fix EXPORT install in CMake (#372)
  • moveit servo: fix constructing duration from double & fix bug in insertRedundantPointsIntoTrajectory function (#374)
  • port pose tracking (#320)
  • Fix 'start_servo' service topic in demo
  • Sync main branch with MoveIt 1 from previous head https://github.com/ros-planning/moveit/commit/0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e up to https://github.com/ros-planning/moveit/commit/74b3e30db2e8683ac17b339cc124675ae52a5114
  • Protect paused_ flag, for thread safety (#2494)
  • Do not break out of loop -- need to update low pass filters (#2496)
  • [Servo] Fix initial angle error is always 0 (#2464)
  • Add an important sleep in Servo pose tracking (#2463)
  • Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
  • [feature] Low latency mode (#2401)
  • Move timer initialization down to fix potential race condition
  • Contributors: Abishalini Sivaraman, AdamPettinger, AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Nathan Brooks, Tyler Weaver

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 Görner

1.0.5 (2020-07-08)

  • [maint] Minor moveit_servo header cleanup (#2173)
  • [maint] Move and rename to moveit_ros/moveit_servo (#2165)
  • [maint] Changes before porting to ROS2 (#2151)
    • throttle warning logs
    • ROS1 Basic improvements and changes
    • Fixes to drift dimensions, singularity velocity scaling
    • tf name changes, const fixes, slight logic changes
    • Move ROS_LOG_THROTTLE_PERIOD to cpp files
    • Track staleness of joint and twist seperately
    • Ensure joint_trajectory output is always populated with something, even when no jog
    • Fix joint trajectory redundant points for gazebo pub
    • Fix crazy joint jog from bad Eigen init
    • Fix variable type in addJointIncrements()
    • Initialize last sent command in constructor
    • More explicit joint_jog_cmdand twist_stamped_cmdnames
    • Add comment clarying transform calculation / use
  • [fix] Fix access past end of array bug (#2155)
  • [maint] Remove duplicate line (#2154)
  • [maint] pragma once in jog_arm.h (#2152)
  • [feature] Simplify communication between threads (#2103)
    • get latest joint state c++ api
    • throttle warning logs
    • publish from jog calcs timer, removing redundant timer and internal messaging to main timer
    • outgoing message as pool allocated shared pointer for zero copy
    • replace jog_arm shared variables with ros pub/sub
    • use built in zero copy message passing instead of spsc_queues
    • use ros timers instead of threads in jog_arm
  • [feature] Added throttle to jogarm accel limit warning (#2141)
  • [feature] Time-based collision avoidance (#2100)
  • [fix] Fix crash on empty jog msgs (#2094)
  • [feature] Jog arm dimensions (#1724)
  • [maint] Clang-tidy fixes (#2050)
  • [feature] Keep updating joints, even while waiting for a valid command (#2027)
  • [fix] Fix param logic bug for self- and scene-collision proximity thresholds (#2022)
  • [feature] Split collision proximity threshold (#2008)
    • separate proximity threshold values for self-collisions and scene collisions
    • increase default value of scene collision proximity threshold
    • deprecate old parameters
  • [fix] Fix valid command flags (#2013)
    • Rename the 'zero command flag' variables for readability
    • Reset flags when incoming commands timeout
    • Remove debug line, clang format
  • [maint] Use default move constructor + assignment operators for MoveItCpp. (#2004)
  • [fix] Fix low-pass filter initialization (#1982)
    • Pause/stop JogArm threads using shared atomic bool variables
    • Add pause/unpause flags for jog thread
    • Verify valid joints by filtering for active joint models only
    • Remove redundant joint state increments
    • Wait for initial jog commands in main loop
  • [fix] Remove duplicate collision check in JogArm (#1986)
  • [feature] Add a binary collision check (#1978)
  • [feature] Publish more detailed warnings (#1915)
  • [feature] Use wait_for_service() to fix flaky tests (#1946)
  • [maint] Fix versioning (#1948)
  • [feature] SRDF velocity and acceleration limit enforcement (#1863)
  • [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
  • [fix] JogArm C++ API fixes (#1911)
  • [feature] A ROS service to enable task redundancy (#1855)
  • [fix] Fix segfault with uninitialized JogArm thread (#1882)
  • [feature] Add warnings to moveit_jog_arm low pass filter (#1872)
  • [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (#1607)
  • [fix] Fix initial end effector transform jump (#1871)
  • [feature] Rework the halt msg functionality (#1868)
  • [fix] Various small fixes (#1859)
  • [maint] Improve formatting in comments
  • [fix] Prevent a crash at velocity limit (#1837)
  • [feature] Remove scale/joint parameter (#1838)
  • [feature] Pass planning scene monitor into cpp interface (#1849)
  • [maint] Move attribution below license file, standardize with MoveIt (#1847)
  • [maint] Reduce console output warnings (#1845)
  • [fix] Fix command frame transform computation (#1842)
  • [maint] Fix dependencies + catkin_lint issues
  • [feature] Update link transforms before calling checkCollision on robot state in jog_arm (#1825)
  • [feature] Add atomic bool flags for terminating JogArm threads gracefully (#1816)
  • [feature] Get transforms from RobotState instead of TF (#1803)
  • [feature] Add a C++ API (#1763)
  • [maint] Fix unused parameter warnings (#1773)
  • [maint] Update license formatting (#1764)
  • [maint] Unify jog_arm package to be C++14 (#1762)
  • [fix] Fix jog_arm segfault (#1692)
  • [fix] Fix double mutex unlock (#1672)
  • [maint] Rename jog_arm->moveit_jog_arm (#1663)
  • [feature] Do not wait for command msg to start spinning (#1603)
  • [maint] Update jog_arm README with rviz config (#1614)
  • [maint] Switch from include guards to pragma once (#1615)
  • [maint] Separate moveit_experimental packages (#1606)
  • [feature] Use UR5 example (#1605)
  • [feature] Sudden stop for critical issues, filtered deceleration otherwise (#1468)
  • [feature] Change 2nd order Butterworth low pass filter to 1st order (#1483)
  • [maint] Remove ! from MoveIt name (#1590)
  • [feature] JogArm: Remove dependency on move_group node (#1569)
  • [fix] Fix jog arm CI integration test (#1466)
  • [feature] A jogging PR for Melodic. (#1360)
    • Allow for joints in the msg that are not part of the MoveGroup.
    • Switching to the Panda robot model for tests.
    • Blacklist the test as I can't get it to pass Travis (fine locally).
    • Throttling all warnings. Fix build warning re. unit vs int comparison.
    • Continue to publish commands even if stationary
    • Scale for 'unitless' commands is not tied to publish_period.
    • New function name for checkIfJointsWithinBounds()
    • Configure the number of msgs to publish when stationary.
    • Run jog_calcs at the same rate as the publishing thread.
    • Better comments in config file, add spacenav_node dependency
    • Add spacenav_node to CMakeLists.
  • Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

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Plugins

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Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.11.0
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 2024-10-14
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

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)
    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)
  • Fix error message text in servo.cpp (#2769)
  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>
  • [Servo] Fix collision checking with attached objects (#2747)
  • Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
  • CMake format and lint in pre-commit (#2683)
  • Attempt to use SCHED_FIFO for Servo regardless of RT kernel (#2653)
    • Attempt to use SCHED_FIFO for Servo regardless of RT kernel

    * Update warning message if Servo fails to use SCHED_FIFO Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo_node.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Acceleration Limited Smoothing Plugin for Servo (#2651)
  • Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver

2.9.0 (2024-01-09)

  • Add command queue to servo to account for latency (#2594)
    • add command queue to servo to account for latency
    • run pre-commit
    • fix unsigned compare

    * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Fix wording Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • add comments and change variable names
    • add checks to determine what state information should be published
    • change latency parameter name
    • factor command queue out of servo instance
    • update demos
    • needs clean up but working well
    • deal with duplicate timestamps for sim
    • add acceleration limiting smoothing
    • add timeout check in filter
    • factor out robot state from servo call
    • update comments in smoothing pluin
    • fix tests
    • change velocity calculation to make interpolation not overshoot

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/demos/cpp_interface/demo_joint_jog.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • fix time calculation
    • add check to ensure time interval is positive
    • simplify demos
    • wait for first robot state before starting servo loop
    • add comments to acceleration filter
    • fix wait time units
    • fix logic bug in smoothHalt and remove stopping point from trajectory message. Still some overshoot.
    • add acceleration limit to servo
    • remove acceleration filter
    • remove other filter files from moveit_core
    • add doc string and basic clean up
    • refactor getRobotState to utils and add a test
    • make some things const and fix comments
    • use joint_limts params to get robot acceleration limits
    • update demo config and set velocities in demos
    • fix acceleration calculation
    • apply collision_velocity_scale_ in smooth hault, add comments, and rename variables
    • use bounds on scaling factors in [0... 1]
    • remove joint_acceleration parameter
    • add test for jointLimitAccelerationScaling
    • refactor velocity and acceleration scaling into common function
    • general clean up, add comments, fix parameters, set timestamp in updateSlidingWindow, etc.

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • remove override_acceleration_scaling_factor
    • fix variable name
    • enable use_smoothing in demos

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • add current state to command queue if it is empty. This is needed since the time stamp is set in the updateSlidingWindow function now.
    • remove acceleration smoothing
    • revert jointLimitVelocityScalingFactor refactor

    * 1) fix spelling 2) add comments 3) make sure rolling_window always has current state if no command generated 4) fix smooth hault: stop command was not generated if smoothing disabled 5) call resetSmoothing when there are no commands ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • MoveIt Servo should respect the AllowedCollisionMatrix (#2605)
    • MoveIt Servo should respect the AllowedCollisionMatrix
    • Formatting
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Update ros2_control usage (#2620)
    • Update ros2_control usage
    • Update xacro file
  • Making the error messages of moveit_servo::validateParams more expressive. (#2602)
  • Make [moveit_servo]{.title-ref} listen to Octomap updates (#2601)
    • Start servo's world geometry monitor

    * Typo fix ---------Co-authored-by: Amal Nanavati <<amaln@cs.washington.edu>>

  • Replaced single value joint_limit_margin with list of joint_limit_margin (#2576)
    • Replaced joint_limit_margin with list of margins: joint_limit_margin. Enabling setting individual margins for each joint.
    • Dimension comment update
    • Adding a dimension check within the validateParams() function of servo.cpp to give a clear error message if the size of joint_limit_margis does not match the number of joints of the move_group

    * Formatting fix Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Fix panda_simulated_config.yaml ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Node logging in moveit_core (#2503)
  • Fix velocity scaling factor calculations and support multi-DOF joints in Servo (#2540)
  • Ensure to reset the smoothing plugin when resuming Servo (#2537)
  • [Servo] Change planning frame to base frame of active joint subgroup (#2515)
  • Fix threading issue for collision velocity scaling in MoveIt Servo (#2517)
  • Add distance to servo collision checker requests (#2511)
  • Use node logging in moveit_ros (#2482)
  • Smoothing plugin API update and bug fix (#2470)
    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • Link against Eigen, not tf2_eigen
    • Don't resize every time
    • Don't reset the smoother_ every time
    • Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <<ibrahimjkd@gmail.com>> Co-authored-by: V Mohammed Ibrahim <<12377945+ibrahiminfinite@users.noreply.github.com>>

  • Fix levels in servo logs (#2440)
  • Enable using a subgroup of the move group in servo (#2396)
    • Enable using a subgroup of the move group in servo
    • Remove unnecessary validations since the param is const

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • Don't copy joints if subgroup == move group
    • Re-add params_valid in validateParams
    • Generalize active subgroup delta calculation
    • Add more efficient move group joint position lookup
    • Create subgroup map in the constructor

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Fix Servo singularity scaling unit tests (#2414)
    • Fix Servo singularity scaling unit tests
    • Fix Servo singularity scaling unit tests
    • Simplify tests
    • updateLinkTransforms is not needed after all
  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Set static parameters as [read-only]{.title-ref} (#2381)
    • Make some params read-only + grouping

    * Apply suggestions from code review Co-authored-by: AndyZe <<andyz@utexas.edu>> * Allow dynamic initialization of velocity scales ---------Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Fix bugs when halting for collision + transforming commands to planning frame (#2350)
  • Contributors: Amal Nanavati, AndyZe, Erik Holum, Marq Rasmussen, Nils-Christian Iseke, Paul Gesel, Sebastian Castro, Sebastian Jahr, Tyler Weaver, V Mohammed Ibrahim

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 Görner, Nathan Brooks, Nisala Kalupahana, Tyler Weaver, Vatan Aksoy Tezer, luisrayas3, Lior Lustgarten

2.2.1 (2021-07-12)

  • moveit_servo: Add a parameter to halt only joints that violate position limits (#515) Add halt_all_joints_in_joint_mode & halt_all_joints_in_cartesian_mode parameters to decide whether to halt all joints or some of them in case of joint limit violation
  • Contributors: Jafar Abdi

2.2.0 (2021-06-30)

  • Allow a negative joint margin (#501)
  • Move servo doc and examples to moveit2_tutorials (#486)
  • Remove faulty gtest include (#526)
  • Fix segfault when publish_joint_velocities set to false and a joint is close to position limit (#497)
  • Enable Rolling and Galactic CI (#494)
  • [sync] MoveIt's master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4
    • Misspelled MoveIt (#2692)
    • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
    • Halt Servo command on Pose Tracking stop (#2501)
    • stop_requested_ flag clearing fix (#2537)
    • add missing include (#2519)
    • Refactor velocity bounds enforcement (#2471)
  • Contributors: AdamPettinger, AndyZe, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Michael Görner, Nathan Brooks, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, parunapu

2.1.4 (2021-05-31)

  • Delete MoveIt fake_controller_manager (#471)
  • Contributors: AndyZe

2.1.3 (2021-05-22)

  • Refactor Servo velocity bounds enforcement. Disable flaky unit tests. (#428)
  • Fix joint limit handling when velocities aren't included in robot state (#451)
  • Fix Servo logging frequency (#457)
  • Replace last ament_export_libraries macro calls with ament_export_targets (#448)
  • Contributors: AndyZe, Sebastian Jahr, Vatan Aksoy Tezer

2.1.2 (2021-04-20)

  • Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <<zelenak@picknik.ai>>
  • Unify PickNik name in copyrights (#419)
  • Contributors: Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Do not output positions at all if they are set to false (#410)
  • Update launch files to use ros2 control spawner (#405)
  • Include boost optional in pose_tracking (#406)
  • Use fake_components::GenericSystem from ros2_control (#361)
  • Fix EXPORT install in CMake (#372)
  • moveit servo: fix constructing duration from double & fix bug in insertRedundantPointsIntoTrajectory function (#374)
  • port pose tracking (#320)
  • Fix 'start_servo' service topic in demo
  • Sync main branch with MoveIt 1 from previous head https://github.com/ros-planning/moveit/commit/0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e up to https://github.com/ros-planning/moveit/commit/74b3e30db2e8683ac17b339cc124675ae52a5114
  • Protect paused_ flag, for thread safety (#2494)
  • Do not break out of loop -- need to update low pass filters (#2496)
  • [Servo] Fix initial angle error is always 0 (#2464)
  • Add an important sleep in Servo pose tracking (#2463)
  • Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
  • [feature] Low latency mode (#2401)
  • Move timer initialization down to fix potential race condition
  • Contributors: Abishalini Sivaraman, AdamPettinger, AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Nathan Brooks, Tyler Weaver

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 Görner

1.0.5 (2020-07-08)

  • [maint] Minor moveit_servo header cleanup (#2173)
  • [maint] Move and rename to moveit_ros/moveit_servo (#2165)
  • [maint] Changes before porting to ROS2 (#2151)
    • throttle warning logs
    • ROS1 Basic improvements and changes
    • Fixes to drift dimensions, singularity velocity scaling
    • tf name changes, const fixes, slight logic changes
    • Move ROS_LOG_THROTTLE_PERIOD to cpp files
    • Track staleness of joint and twist seperately
    • Ensure joint_trajectory output is always populated with something, even when no jog
    • Fix joint trajectory redundant points for gazebo pub
    • Fix crazy joint jog from bad Eigen init
    • Fix variable type in addJointIncrements()
    • Initialize last sent command in constructor
    • More explicit joint_jog_cmdand twist_stamped_cmdnames
    • Add comment clarying transform calculation / use
  • [fix] Fix access past end of array bug (#2155)
  • [maint] Remove duplicate line (#2154)
  • [maint] pragma once in jog_arm.h (#2152)
  • [feature] Simplify communication between threads (#2103)
    • get latest joint state c++ api
    • throttle warning logs
    • publish from jog calcs timer, removing redundant timer and internal messaging to main timer
    • outgoing message as pool allocated shared pointer for zero copy
    • replace jog_arm shared variables with ros pub/sub
    • use built in zero copy message passing instead of spsc_queues
    • use ros timers instead of threads in jog_arm
  • [feature] Added throttle to jogarm accel limit warning (#2141)
  • [feature] Time-based collision avoidance (#2100)
  • [fix] Fix crash on empty jog msgs (#2094)
  • [feature] Jog arm dimensions (#1724)
  • [maint] Clang-tidy fixes (#2050)
  • [feature] Keep updating joints, even while waiting for a valid command (#2027)
  • [fix] Fix param logic bug for self- and scene-collision proximity thresholds (#2022)
  • [feature] Split collision proximity threshold (#2008)
    • separate proximity threshold values for self-collisions and scene collisions
    • increase default value of scene collision proximity threshold
    • deprecate old parameters
  • [fix] Fix valid command flags (#2013)
    • Rename the 'zero command flag' variables for readability
    • Reset flags when incoming commands timeout
    • Remove debug line, clang format
  • [maint] Use default move constructor + assignment operators for MoveItCpp. (#2004)
  • [fix] Fix low-pass filter initialization (#1982)
    • Pause/stop JogArm threads using shared atomic bool variables
    • Add pause/unpause flags for jog thread
    • Verify valid joints by filtering for active joint models only
    • Remove redundant joint state increments
    • Wait for initial jog commands in main loop
  • [fix] Remove duplicate collision check in JogArm (#1986)
  • [feature] Add a binary collision check (#1978)
  • [feature] Publish more detailed warnings (#1915)
  • [feature] Use wait_for_service() to fix flaky tests (#1946)
  • [maint] Fix versioning (#1948)
  • [feature] SRDF velocity and acceleration limit enforcement (#1863)
  • [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
  • [fix] JogArm C++ API fixes (#1911)
  • [feature] A ROS service to enable task redundancy (#1855)
  • [fix] Fix segfault with uninitialized JogArm thread (#1882)
  • [feature] Add warnings to moveit_jog_arm low pass filter (#1872)
  • [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (#1607)
  • [fix] Fix initial end effector transform jump (#1871)
  • [feature] Rework the halt msg functionality (#1868)
  • [fix] Various small fixes (#1859)
  • [maint] Improve formatting in comments
  • [fix] Prevent a crash at velocity limit (#1837)
  • [feature] Remove scale/joint parameter (#1838)
  • [feature] Pass planning scene monitor into cpp interface (#1849)
  • [maint] Move attribution below license file, standardize with MoveIt (#1847)
  • [maint] Reduce console output warnings (#1845)
  • [fix] Fix command frame transform computation (#1842)
  • [maint] Fix dependencies + catkin_lint issues
  • [feature] Update link transforms before calling checkCollision on robot state in jog_arm (#1825)
  • [feature] Add atomic bool flags for terminating JogArm threads gracefully (#1816)
  • [feature] Get transforms from RobotState instead of TF (#1803)
  • [feature] Add a C++ API (#1763)
  • [maint] Fix unused parameter warnings (#1773)
  • [maint] Update license formatting (#1764)
  • [maint] Unify jog_arm package to be C++14 (#1762)
  • [fix] Fix jog_arm segfault (#1692)
  • [fix] Fix double mutex unlock (#1672)
  • [maint] Rename jog_arm->moveit_jog_arm (#1663)
  • [feature] Do not wait for command msg to start spinning (#1603)
  • [maint] Update jog_arm README with rviz config (#1614)
  • [maint] Switch from include guards to pragma once (#1615)
  • [maint] Separate moveit_experimental packages (#1606)
  • [feature] Use UR5 example (#1605)
  • [feature] Sudden stop for critical issues, filtered deceleration otherwise (#1468)
  • [feature] Change 2nd order Butterworth low pass filter to 1st order (#1483)
  • [maint] Remove ! from MoveIt name (#1590)
  • [feature] JogArm: Remove dependency on move_group node (#1569)
  • [fix] Fix jog arm CI integration test (#1466)
  • [feature] A jogging PR for Melodic. (#1360)
    • Allow for joints in the msg that are not part of the MoveGroup.
    • Switching to the Panda robot model for tests.
    • Blacklist the test as I can't get it to pass Travis (fine locally).
    • Throttling all warnings. Fix build warning re. unit vs int comparison.
    • Continue to publish commands even if stationary
    • Scale for 'unitless' commands is not tied to publish_period.
    • New function name for checkIfJointsWithinBounds()
    • Configure the number of msgs to publish when stationary.
    • Run jog_calcs at the same rate as the publishing thread.
    • Better comments in config file, add spacenav_node dependency
    • Add spacenav_node to CMakeLists.
  • Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

No service files found

Plugins

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Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.11.0
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 2024-10-14
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

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)
    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)
  • Fix error message text in servo.cpp (#2769)
  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>
  • [Servo] Fix collision checking with attached objects (#2747)
  • Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
  • CMake format and lint in pre-commit (#2683)
  • Attempt to use SCHED_FIFO for Servo regardless of RT kernel (#2653)
    • Attempt to use SCHED_FIFO for Servo regardless of RT kernel

    * Update warning message if Servo fails to use SCHED_FIFO Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo_node.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Acceleration Limited Smoothing Plugin for Servo (#2651)
  • Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver

2.9.0 (2024-01-09)

  • Add command queue to servo to account for latency (#2594)
    • add command queue to servo to account for latency
    • run pre-commit
    • fix unsigned compare

    * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Fix wording Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • add comments and change variable names
    • add checks to determine what state information should be published
    • change latency parameter name
    • factor command queue out of servo instance
    • update demos
    • needs clean up but working well
    • deal with duplicate timestamps for sim
    • add acceleration limiting smoothing
    • add timeout check in filter
    • factor out robot state from servo call
    • update comments in smoothing pluin
    • fix tests
    • change velocity calculation to make interpolation not overshoot

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/demos/cpp_interface/demo_joint_jog.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • fix time calculation
    • add check to ensure time interval is positive
    • simplify demos
    • wait for first robot state before starting servo loop
    • add comments to acceleration filter
    • fix wait time units
    • fix logic bug in smoothHalt and remove stopping point from trajectory message. Still some overshoot.
    • add acceleration limit to servo
    • remove acceleration filter
    • remove other filter files from moveit_core
    • add doc string and basic clean up
    • refactor getRobotState to utils and add a test
    • make some things const and fix comments
    • use joint_limts params to get robot acceleration limits
    • update demo config and set velocities in demos
    • fix acceleration calculation
    • apply collision_velocity_scale_ in smooth hault, add comments, and rename variables
    • use bounds on scaling factors in [0... 1]
    • remove joint_acceleration parameter
    • add test for jointLimitAccelerationScaling
    • refactor velocity and acceleration scaling into common function
    • general clean up, add comments, fix parameters, set timestamp in updateSlidingWindow, etc.

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • remove override_acceleration_scaling_factor
    • fix variable name
    • enable use_smoothing in demos

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • add current state to command queue if it is empty. This is needed since the time stamp is set in the updateSlidingWindow function now.
    • remove acceleration smoothing
    • revert jointLimitVelocityScalingFactor refactor

    * 1) fix spelling 2) add comments 3) make sure rolling_window always has current state if no command generated 4) fix smooth hault: stop command was not generated if smoothing disabled 5) call resetSmoothing when there are no commands ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • MoveIt Servo should respect the AllowedCollisionMatrix (#2605)
    • MoveIt Servo should respect the AllowedCollisionMatrix
    • Formatting
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Update ros2_control usage (#2620)
    • Update ros2_control usage
    • Update xacro file
  • Making the error messages of moveit_servo::validateParams more expressive. (#2602)
  • Make [moveit_servo]{.title-ref} listen to Octomap updates (#2601)
    • Start servo's world geometry monitor

    * Typo fix ---------Co-authored-by: Amal Nanavati <<amaln@cs.washington.edu>>

  • Replaced single value joint_limit_margin with list of joint_limit_margin (#2576)
    • Replaced joint_limit_margin with list of margins: joint_limit_margin. Enabling setting individual margins for each joint.
    • Dimension comment update
    • Adding a dimension check within the validateParams() function of servo.cpp to give a clear error message if the size of joint_limit_margis does not match the number of joints of the move_group

    * Formatting fix Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Fix panda_simulated_config.yaml ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Node logging in moveit_core (#2503)
  • Fix velocity scaling factor calculations and support multi-DOF joints in Servo (#2540)
  • Ensure to reset the smoothing plugin when resuming Servo (#2537)
  • [Servo] Change planning frame to base frame of active joint subgroup (#2515)
  • Fix threading issue for collision velocity scaling in MoveIt Servo (#2517)
  • Add distance to servo collision checker requests (#2511)
  • Use node logging in moveit_ros (#2482)
  • Smoothing plugin API update and bug fix (#2470)
    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • Link against Eigen, not tf2_eigen
    • Don't resize every time
    • Don't reset the smoother_ every time
    • Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <<ibrahimjkd@gmail.com>> Co-authored-by: V Mohammed Ibrahim <<12377945+ibrahiminfinite@users.noreply.github.com>>

  • Fix levels in servo logs (#2440)
  • Enable using a subgroup of the move group in servo (#2396)
    • Enable using a subgroup of the move group in servo
    • Remove unnecessary validations since the param is const

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • Don't copy joints if subgroup == move group
    • Re-add params_valid in validateParams
    • Generalize active subgroup delta calculation
    • Add more efficient move group joint position lookup
    • Create subgroup map in the constructor

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Fix Servo singularity scaling unit tests (#2414)
    • Fix Servo singularity scaling unit tests
    • Fix Servo singularity scaling unit tests
    • Simplify tests
    • updateLinkTransforms is not needed after all
  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Set static parameters as [read-only]{.title-ref} (#2381)
    • Make some params read-only + grouping

    * Apply suggestions from code review Co-authored-by: AndyZe <<andyz@utexas.edu>> * Allow dynamic initialization of velocity scales ---------Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Fix bugs when halting for collision + transforming commands to planning frame (#2350)
  • Contributors: Amal Nanavati, AndyZe, Erik Holum, Marq Rasmussen, Nils-Christian Iseke, Paul Gesel, Sebastian Castro, Sebastian Jahr, Tyler Weaver, V Mohammed Ibrahim

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 Görner, Nathan Brooks, Nisala Kalupahana, Tyler Weaver, Vatan Aksoy Tezer, luisrayas3, Lior Lustgarten

2.2.1 (2021-07-12)

  • moveit_servo: Add a parameter to halt only joints that violate position limits (#515) Add halt_all_joints_in_joint_mode & halt_all_joints_in_cartesian_mode parameters to decide whether to halt all joints or some of them in case of joint limit violation
  • Contributors: Jafar Abdi

2.2.0 (2021-06-30)

  • Allow a negative joint margin (#501)
  • Move servo doc and examples to moveit2_tutorials (#486)
  • Remove faulty gtest include (#526)
  • Fix segfault when publish_joint_velocities set to false and a joint is close to position limit (#497)
  • Enable Rolling and Galactic CI (#494)
  • [sync] MoveIt's master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4
    • Misspelled MoveIt (#2692)
    • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
    • Halt Servo command on Pose Tracking stop (#2501)
    • stop_requested_ flag clearing fix (#2537)
    • add missing include (#2519)
    • Refactor velocity bounds enforcement (#2471)
  • Contributors: AdamPettinger, AndyZe, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Michael Görner, Nathan Brooks, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, parunapu

2.1.4 (2021-05-31)

  • Delete MoveIt fake_controller_manager (#471)
  • Contributors: AndyZe

2.1.3 (2021-05-22)

  • Refactor Servo velocity bounds enforcement. Disable flaky unit tests. (#428)
  • Fix joint limit handling when velocities aren't included in robot state (#451)
  • Fix Servo logging frequency (#457)
  • Replace last ament_export_libraries macro calls with ament_export_targets (#448)
  • Contributors: AndyZe, Sebastian Jahr, Vatan Aksoy Tezer

2.1.2 (2021-04-20)

  • Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <<zelenak@picknik.ai>>
  • Unify PickNik name in copyrights (#419)
  • Contributors: Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Do not output positions at all if they are set to false (#410)
  • Update launch files to use ros2 control spawner (#405)
  • Include boost optional in pose_tracking (#406)
  • Use fake_components::GenericSystem from ros2_control (#361)
  • Fix EXPORT install in CMake (#372)
  • moveit servo: fix constructing duration from double & fix bug in insertRedundantPointsIntoTrajectory function (#374)
  • port pose tracking (#320)
  • Fix 'start_servo' service topic in demo
  • Sync main branch with MoveIt 1 from previous head https://github.com/ros-planning/moveit/commit/0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e up to https://github.com/ros-planning/moveit/commit/74b3e30db2e8683ac17b339cc124675ae52a5114
  • Protect paused_ flag, for thread safety (#2494)
  • Do not break out of loop -- need to update low pass filters (#2496)
  • [Servo] Fix initial angle error is always 0 (#2464)
  • Add an important sleep in Servo pose tracking (#2463)
  • Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
  • [feature] Low latency mode (#2401)
  • Move timer initialization down to fix potential race condition
  • Contributors: Abishalini Sivaraman, AdamPettinger, AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Nathan Brooks, Tyler Weaver

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 Görner

1.0.5 (2020-07-08)

  • [maint] Minor moveit_servo header cleanup (#2173)
  • [maint] Move and rename to moveit_ros/moveit_servo (#2165)
  • [maint] Changes before porting to ROS2 (#2151)
    • throttle warning logs
    • ROS1 Basic improvements and changes
    • Fixes to drift dimensions, singularity velocity scaling
    • tf name changes, const fixes, slight logic changes
    • Move ROS_LOG_THROTTLE_PERIOD to cpp files
    • Track staleness of joint and twist seperately
    • Ensure joint_trajectory output is always populated with something, even when no jog
    • Fix joint trajectory redundant points for gazebo pub
    • Fix crazy joint jog from bad Eigen init
    • Fix variable type in addJointIncrements()
    • Initialize last sent command in constructor
    • More explicit joint_jog_cmdand twist_stamped_cmdnames
    • Add comment clarying transform calculation / use
  • [fix] Fix access past end of array bug (#2155)
  • [maint] Remove duplicate line (#2154)
  • [maint] pragma once in jog_arm.h (#2152)
  • [feature] Simplify communication between threads (#2103)
    • get latest joint state c++ api
    • throttle warning logs
    • publish from jog calcs timer, removing redundant timer and internal messaging to main timer
    • outgoing message as pool allocated shared pointer for zero copy
    • replace jog_arm shared variables with ros pub/sub
    • use built in zero copy message passing instead of spsc_queues
    • use ros timers instead of threads in jog_arm
  • [feature] Added throttle to jogarm accel limit warning (#2141)
  • [feature] Time-based collision avoidance (#2100)
  • [fix] Fix crash on empty jog msgs (#2094)
  • [feature] Jog arm dimensions (#1724)
  • [maint] Clang-tidy fixes (#2050)
  • [feature] Keep updating joints, even while waiting for a valid command (#2027)
  • [fix] Fix param logic bug for self- and scene-collision proximity thresholds (#2022)
  • [feature] Split collision proximity threshold (#2008)
    • separate proximity threshold values for self-collisions and scene collisions
    • increase default value of scene collision proximity threshold
    • deprecate old parameters
  • [fix] Fix valid command flags (#2013)
    • Rename the 'zero command flag' variables for readability
    • Reset flags when incoming commands timeout
    • Remove debug line, clang format
  • [maint] Use default move constructor + assignment operators for MoveItCpp. (#2004)
  • [fix] Fix low-pass filter initialization (#1982)
    • Pause/stop JogArm threads using shared atomic bool variables
    • Add pause/unpause flags for jog thread
    • Verify valid joints by filtering for active joint models only
    • Remove redundant joint state increments
    • Wait for initial jog commands in main loop
  • [fix] Remove duplicate collision check in JogArm (#1986)
  • [feature] Add a binary collision check (#1978)
  • [feature] Publish more detailed warnings (#1915)
  • [feature] Use wait_for_service() to fix flaky tests (#1946)
  • [maint] Fix versioning (#1948)
  • [feature] SRDF velocity and acceleration limit enforcement (#1863)
  • [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
  • [fix] JogArm C++ API fixes (#1911)
  • [feature] A ROS service to enable task redundancy (#1855)
  • [fix] Fix segfault with uninitialized JogArm thread (#1882)
  • [feature] Add warnings to moveit_jog_arm low pass filter (#1872)
  • [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (#1607)
  • [fix] Fix initial end effector transform jump (#1871)
  • [feature] Rework the halt msg functionality (#1868)
  • [fix] Various small fixes (#1859)
  • [maint] Improve formatting in comments
  • [fix] Prevent a crash at velocity limit (#1837)
  • [feature] Remove scale/joint parameter (#1838)
  • [feature] Pass planning scene monitor into cpp interface (#1849)
  • [maint] Move attribution below license file, standardize with MoveIt (#1847)
  • [maint] Reduce console output warnings (#1845)
  • [fix] Fix command frame transform computation (#1842)
  • [maint] Fix dependencies + catkin_lint issues
  • [feature] Update link transforms before calling checkCollision on robot state in jog_arm (#1825)
  • [feature] Add atomic bool flags for terminating JogArm threads gracefully (#1816)
  • [feature] Get transforms from RobotState instead of TF (#1803)
  • [feature] Add a C++ API (#1763)
  • [maint] Fix unused parameter warnings (#1773)
  • [maint] Update license formatting (#1764)
  • [maint] Unify jog_arm package to be C++14 (#1762)
  • [fix] Fix jog_arm segfault (#1692)
  • [fix] Fix double mutex unlock (#1672)
  • [maint] Rename jog_arm->moveit_jog_arm (#1663)
  • [feature] Do not wait for command msg to start spinning (#1603)
  • [maint] Update jog_arm README with rviz config (#1614)
  • [maint] Switch from include guards to pragma once (#1615)
  • [maint] Separate moveit_experimental packages (#1606)
  • [feature] Use UR5 example (#1605)
  • [feature] Sudden stop for critical issues, filtered deceleration otherwise (#1468)
  • [feature] Change 2nd order Butterworth low pass filter to 1st order (#1483)
  • [maint] Remove ! from MoveIt name (#1590)
  • [feature] JogArm: Remove dependency on move_group node (#1569)
  • [fix] Fix jog arm CI integration test (#1466)
  • [feature] A jogging PR for Melodic. (#1360)
    • Allow for joints in the msg that are not part of the MoveGroup.
    • Switching to the Panda robot model for tests.
    • Blacklist the test as I can't get it to pass Travis (fine locally).
    • Throttling all warnings. Fix build warning re. unit vs int comparison.
    • Continue to publish commands even if stationary
    • Scale for 'unitless' commands is not tied to publish_period.
    • New function name for checkIfJointsWithinBounds()
    • Configure the number of msgs to publish when stationary.
    • Run jog_calcs at the same rate as the publishing thread.
    • Better comments in config file, add spacenav_node dependency
    • Add spacenav_node to CMakeLists.
  • Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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 Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.11.0
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 2024-10-14
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

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)
    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)
  • Fix error message text in servo.cpp (#2769)
  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>
  • [Servo] Fix collision checking with attached objects (#2747)
  • Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
  • CMake format and lint in pre-commit (#2683)
  • Attempt to use SCHED_FIFO for Servo regardless of RT kernel (#2653)
    • Attempt to use SCHED_FIFO for Servo regardless of RT kernel

    * Update warning message if Servo fails to use SCHED_FIFO Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo_node.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Acceleration Limited Smoothing Plugin for Servo (#2651)
  • Contributors: Marc Bestmann, Nathan Brooks, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Tyler Weaver

2.9.0 (2024-01-09)

  • Add command queue to servo to account for latency (#2594)
    • add command queue to servo to account for latency
    • run pre-commit
    • fix unsigned compare

    * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Fix wording Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • add comments and change variable names
    • add checks to determine what state information should be published
    • change latency parameter name
    • factor command queue out of servo instance
    • update demos
    • needs clean up but working well
    • deal with duplicate timestamps for sim
    • add acceleration limiting smoothing
    • add timeout check in filter
    • factor out robot state from servo call
    • update comments in smoothing pluin
    • fix tests
    • change velocity calculation to make interpolation not overshoot

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/config/servo_parameters.yaml Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/demos/cpp_interface/demo_joint_jog.cpp Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • fix time calculation
    • add check to ensure time interval is positive
    • simplify demos
    • wait for first robot state before starting servo loop
    • add comments to acceleration filter
    • fix wait time units
    • fix logic bug in smoothHalt and remove stopping point from trajectory message. Still some overshoot.
    • add acceleration limit to servo
    • remove acceleration filter
    • remove other filter files from moveit_core
    • add doc string and basic clean up
    • refactor getRobotState to utils and add a test
    • make some things const and fix comments
    • use joint_limts params to get robot acceleration limits
    • update demo config and set velocities in demos
    • fix acceleration calculation
    • apply collision_velocity_scale_ in smooth hault, add comments, and rename variables
    • use bounds on scaling factors in [0... 1]
    • remove joint_acceleration parameter
    • add test for jointLimitAccelerationScaling
    • refactor velocity and acceleration scaling into common function
    • general clean up, add comments, fix parameters, set timestamp in updateSlidingWindow, etc.

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>> * Update moveit_ros/moveit_servo/src/servo.cpp Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • remove override_acceleration_scaling_factor
    • fix variable name
    • enable use_smoothing in demos

    * Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • add current state to command queue if it is empty. This is needed since the time stamp is set in the updateSlidingWindow function now.
    • remove acceleration smoothing
    • revert jointLimitVelocityScalingFactor refactor

    * 1) fix spelling 2) add comments 3) make sure rolling_window always has current state if no command generated 4) fix smooth hault: stop command was not generated if smoothing disabled 5) call resetSmoothing when there are no commands ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • MoveIt Servo should respect the AllowedCollisionMatrix (#2605)
    • MoveIt Servo should respect the AllowedCollisionMatrix
    • Formatting
  • [Servo] Make listening to octomap updates optional (#2627)
    • [Servo] Make listening to octomap updates optional
    • Update moveit_ros/moveit_servo/config/panda_simulated_config.yaml
  • Update ros2_control usage (#2620)
    • Update ros2_control usage
    • Update xacro file
  • Making the error messages of moveit_servo::validateParams more expressive. (#2602)
  • Make [moveit_servo]{.title-ref} listen to Octomap updates (#2601)
    • Start servo's world geometry monitor

    * Typo fix ---------Co-authored-by: Amal Nanavati <<amaln@cs.washington.edu>>

  • Replaced single value joint_limit_margin with list of joint_limit_margin (#2576)
    • Replaced joint_limit_margin with list of margins: joint_limit_margin. Enabling setting individual margins for each joint.
    • Dimension comment update
    • Adding a dimension check within the validateParams() function of servo.cpp to give a clear error message if the size of joint_limit_margis does not match the number of joints of the move_group

    * Formatting fix Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Fix panda_simulated_config.yaml ---------Co-authored-by: AndyZe <<andyz@utexas.edu>> Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Node logging in moveit_core (#2503)
  • Fix velocity scaling factor calculations and support multi-DOF joints in Servo (#2540)
  • Ensure to reset the smoothing plugin when resuming Servo (#2537)
  • [Servo] Change planning frame to base frame of active joint subgroup (#2515)
  • Fix threading issue for collision velocity scaling in MoveIt Servo (#2517)
  • Add distance to servo collision checker requests (#2511)
  • Use node logging in moveit_ros (#2482)
  • Smoothing plugin API update and bug fix (#2470)
    • Use Eigen::vector in smoothing plugin
    • Fix dependencies
    • Make args to reset const
    • Make KinematicState use Eigen::Vector
    • Mark params as unused
    • Fix type issues

    * Variable optimization Co-authored-by: AndyZe <<andyz@utexas.edu>>

    • Link against Eigen, not tf2_eigen
    • Don't resize every time
    • Don't reset the smoother_ every time
    • Initialize the kinematic state of the smoother

    * Cleanup

    Co-authored-by: ibrahiminfinite <<ibrahimjkd@gmail.com>> Co-authored-by: V Mohammed Ibrahim <<12377945+ibrahiminfinite@users.noreply.github.com>>

  • Fix levels in servo logs (#2440)
  • Enable using a subgroup of the move group in servo (#2396)
    • Enable using a subgroup of the move group in servo
    • Remove unnecessary validations since the param is const

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

    • Don't copy joints if subgroup == move group
    • Re-add params_valid in validateParams
    • Generalize active subgroup delta calculation
    • Add more efficient move group joint position lookup
    • Create subgroup map in the constructor

    * Apply suggestions from code review Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>> * Update moveit_ros/moveit_servo/src/servo.cpp ---------Co-authored-by: Sebastian Castro <<4603398+sea-bass@users.noreply.github.com>>

  • Fix Servo singularity scaling unit tests (#2414)
    • Fix Servo singularity scaling unit tests
    • Fix Servo singularity scaling unit tests
    • Simplify tests
    • updateLinkTransforms is not needed after all
  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Set static parameters as [read-only]{.title-ref} (#2381)
    • Make some params read-only + grouping

    * Apply suggestions from code review Co-authored-by: AndyZe <<andyz@utexas.edu>> * Allow dynamic initialization of velocity scales ---------Co-authored-by: AndyZe <<andyz@utexas.edu>>

  • Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
  • [Servo] Fix bugs when halting for collision + transforming commands to planning frame (#2350)
  • Contributors: Amal Nanavati, AndyZe, Erik Holum, Marq Rasmussen, Nils-Christian Iseke, Paul Gesel, Sebastian Castro, Sebastian Jahr, Tyler Weaver, V Mohammed Ibrahim

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 Görner, Nathan Brooks, Nisala Kalupahana, Tyler Weaver, Vatan Aksoy Tezer, luisrayas3, Lior Lustgarten

2.2.1 (2021-07-12)

  • moveit_servo: Add a parameter to halt only joints that violate position limits (#515) Add halt_all_joints_in_joint_mode & halt_all_joints_in_cartesian_mode parameters to decide whether to halt all joints or some of them in case of joint limit violation
  • Contributors: Jafar Abdi

2.2.0 (2021-06-30)

  • Allow a negative joint margin (#501)
  • Move servo doc and examples to moveit2_tutorials (#486)
  • Remove faulty gtest include (#526)
  • Fix segfault when publish_joint_velocities set to false and a joint is close to position limit (#497)
  • Enable Rolling and Galactic CI (#494)
  • [sync] MoveIt's master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4
    • Misspelled MoveIt (#2692)
    • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
    • Halt Servo command on Pose Tracking stop (#2501)
    • stop_requested_ flag clearing fix (#2537)
    • add missing include (#2519)
    • Refactor velocity bounds enforcement (#2471)
  • Contributors: AdamPettinger, AndyZe, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Michael Görner, Nathan Brooks, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, parunapu

2.1.4 (2021-05-31)

  • Delete MoveIt fake_controller_manager (#471)
  • Contributors: AndyZe

2.1.3 (2021-05-22)

  • Refactor Servo velocity bounds enforcement. Disable flaky unit tests. (#428)
  • Fix joint limit handling when velocities aren't included in robot state (#451)
  • Fix Servo logging frequency (#457)
  • Replace last ament_export_libraries macro calls with ament_export_targets (#448)
  • Contributors: AndyZe, Sebastian Jahr, Vatan Aksoy Tezer

2.1.2 (2021-04-20)

  • Re-enable test_servo_pose_tracking integration test (#423) Co-authored-by: AndyZe <<zelenak@picknik.ai>>
  • Unify PickNik name in copyrights (#419)
  • Contributors: Tyler Weaver, Vatan Aksoy Tezer

2.1.1 (2021-04-12)

  • Do not output positions at all if they are set to false (#410)
  • Update launch files to use ros2 control spawner (#405)
  • Include boost optional in pose_tracking (#406)
  • Use fake_components::GenericSystem from ros2_control (#361)
  • Fix EXPORT install in CMake (#372)
  • moveit servo: fix constructing duration from double & fix bug in insertRedundantPointsIntoTrajectory function (#374)
  • port pose tracking (#320)
  • Fix 'start_servo' service topic in demo
  • Sync main branch with MoveIt 1 from previous head https://github.com/ros-planning/moveit/commit/0247ed0027ca9d7f1a7f066e62c80c9ce5dbbb5e up to https://github.com/ros-planning/moveit/commit/74b3e30db2e8683ac17b339cc124675ae52a5114
  • Protect paused_ flag, for thread safety (#2494)
  • Do not break out of loop -- need to update low pass filters (#2496)
  • [Servo] Fix initial angle error is always 0 (#2464)
  • Add an important sleep in Servo pose tracking (#2463)
  • Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
  • [feature] Low latency mode (#2401)
  • Move timer initialization down to fix potential race condition
  • Contributors: Abishalini Sivaraman, AdamPettinger, AndyZe, Boston Cleek, Henning Kayser, Jafar Abdi, Nathan Brooks, Tyler Weaver

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 Görner

1.0.5 (2020-07-08)

  • [maint] Minor moveit_servo header cleanup (#2173)
  • [maint] Move and rename to moveit_ros/moveit_servo (#2165)
  • [maint] Changes before porting to ROS2 (#2151)
    • throttle warning logs
    • ROS1 Basic improvements and changes
    • Fixes to drift dimensions, singularity velocity scaling
    • tf name changes, const fixes, slight logic changes
    • Move ROS_LOG_THROTTLE_PERIOD to cpp files
    • Track staleness of joint and twist seperately
    • Ensure joint_trajectory output is always populated with something, even when no jog
    • Fix joint trajectory redundant points for gazebo pub
    • Fix crazy joint jog from bad Eigen init
    • Fix variable type in addJointIncrements()
    • Initialize last sent command in constructor
    • More explicit joint_jog_cmdand twist_stamped_cmdnames
    • Add comment clarying transform calculation / use
  • [fix] Fix access past end of array bug (#2155)
  • [maint] Remove duplicate line (#2154)
  • [maint] pragma once in jog_arm.h (#2152)
  • [feature] Simplify communication between threads (#2103)
    • get latest joint state c++ api
    • throttle warning logs
    • publish from jog calcs timer, removing redundant timer and internal messaging to main timer
    • outgoing message as pool allocated shared pointer for zero copy
    • replace jog_arm shared variables with ros pub/sub
    • use built in zero copy message passing instead of spsc_queues
    • use ros timers instead of threads in jog_arm
  • [feature] Added throttle to jogarm accel limit warning (#2141)
  • [feature] Time-based collision avoidance (#2100)
  • [fix] Fix crash on empty jog msgs (#2094)
  • [feature] Jog arm dimensions (#1724)
  • [maint] Clang-tidy fixes (#2050)
  • [feature] Keep updating joints, even while waiting for a valid command (#2027)
  • [fix] Fix param logic bug for self- and scene-collision proximity thresholds (#2022)
  • [feature] Split collision proximity threshold (#2008)
    • separate proximity threshold values for self-collisions and scene collisions
    • increase default value of scene collision proximity threshold
    • deprecate old parameters
  • [fix] Fix valid command flags (#2013)
    • Rename the 'zero command flag' variables for readability
    • Reset flags when incoming commands timeout
    • Remove debug line, clang format
  • [maint] Use default move constructor + assignment operators for MoveItCpp. (#2004)
  • [fix] Fix low-pass filter initialization (#1982)
    • Pause/stop JogArm threads using shared atomic bool variables
    • Add pause/unpause flags for jog thread
    • Verify valid joints by filtering for active joint models only
    • Remove redundant joint state increments
    • Wait for initial jog commands in main loop
  • [fix] Remove duplicate collision check in JogArm (#1986)
  • [feature] Add a binary collision check (#1978)
  • [feature] Publish more detailed warnings (#1915)
  • [feature] Use wait_for_service() to fix flaky tests (#1946)
  • [maint] Fix versioning (#1948)
  • [feature] SRDF velocity and acceleration limit enforcement (#1863)
  • [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
  • [fix] JogArm C++ API fixes (#1911)
  • [feature] A ROS service to enable task redundancy (#1855)
  • [fix] Fix segfault with uninitialized JogArm thread (#1882)
  • [feature] Add warnings to moveit_jog_arm low pass filter (#1872)
  • [maint] Use CMAKE_CXX_STANDARD to enforce c++14 for portability (#1607)
  • [fix] Fix initial end effector transform jump (#1871)
  • [feature] Rework the halt msg functionality (#1868)
  • [fix] Various small fixes (#1859)
  • [maint] Improve formatting in comments
  • [fix] Prevent a crash at velocity limit (#1837)
  • [feature] Remove scale/joint parameter (#1838)
  • [feature] Pass planning scene monitor into cpp interface (#1849)
  • [maint] Move attribution below license file, standardize with MoveIt (#1847)
  • [maint] Reduce console output warnings (#1845)
  • [fix] Fix command frame transform computation (#1842)
  • [maint] Fix dependencies + catkin_lint issues
  • [feature] Update link transforms before calling checkCollision on robot state in jog_arm (#1825)
  • [feature] Add atomic bool flags for terminating JogArm threads gracefully (#1816)
  • [feature] Get transforms from RobotState instead of TF (#1803)
  • [feature] Add a C++ API (#1763)
  • [maint] Fix unused parameter warnings (#1773)
  • [maint] Update license formatting (#1764)
  • [maint] Unify jog_arm package to be C++14 (#1762)
  • [fix] Fix jog_arm segfault (#1692)
  • [fix] Fix double mutex unlock (#1672)
  • [maint] Rename jog_arm->moveit_jog_arm (#1663)
  • [feature] Do not wait for command msg to start spinning (#1603)
  • [maint] Update jog_arm README with rviz config (#1614)
  • [maint] Switch from include guards to pragma once (#1615)
  • [maint] Separate moveit_experimental packages (#1606)
  • [feature] Use UR5 example (#1605)
  • [feature] Sudden stop for critical issues, filtered deceleration otherwise (#1468)
  • [feature] Change 2nd order Butterworth low pass filter to 1st order (#1483)
  • [maint] Remove ! from MoveIt name (#1590)
  • [feature] JogArm: Remove dependency on move_group node (#1569)
  • [fix] Fix jog arm CI integration test (#1466)
  • [feature] A jogging PR for Melodic. (#1360)
    • Allow for joints in the msg that are not part of the MoveGroup.
    • Switching to the Panda robot model for tests.
    • Blacklist the test as I can't get it to pass Travis (fine locally).
    • Throttling all warnings. Fix build warning re. unit vs int comparison.
    • Continue to publish commands even if stationary
    • Scale for 'unitless' commands is not tied to publish_period.
    • New function name for checkIfJointsWithinBounds()
    • Configure the number of msgs to publish when stationary.
    • Run jog_calcs at the same rate as the publishing thread.
    • Better comments in config file, add spacenav_node dependency
    • Add spacenav_node to CMakeLists.
  • Contributors: AdamPettinger, AndyZe, Ayush Garg, Dale Koenig, Dave Coleman, Jonathan Binney, Paul Verhoeckx, Henning Kayser, Jafar Abdi, John Stechschulte, Mike Lautman, Robert Haschke, SansoneG, jschleicher, Tyler Weaver, rfeistenauer

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)

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