|
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
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 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
- 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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
ur_moveit_config |
Launch files
Messages
Services
Plugins
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
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 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
- 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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
ur_moveit_config |
Launch files
Messages
Services
Plugins
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
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 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
- 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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
ur_moveit_config |
Launch files
Messages
Services
Plugins
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
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 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
- 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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
ur_moveit_config |
Launch files
Messages
Services
Plugins
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
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 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
- 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
Package Dependencies
System Dependencies
Dependant Packages
Name | Deps |
---|---|
ur_moveit_config |
Launch files
Messages
Services
Plugins
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
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 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
- 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