Please consult tutorials and the official documentation.

For details about the blend algorithm please refer to .

Changelog for package pilz_industrial_motion_planner

1.1.16 (2024-10-07)

1.1.15 (2024-09-09)

• Fix identical subsequent time stamps generated by Pilz planner (#3630)
• Fix PILZ/LIN segfault (#3624)
• Contributors: Robert Haschke

1.1.14 (2024-05-27)

• Don't copy attached collision objects in CommandListManager::setStartState (#3590)
• [ROS-O] Fix Pilz unit tests (#3561)
• Add Pilz unit tests, defining goal poses w.r.t. frame_id != planning frame (#3525)
• Fix Pilz planner: consider link_name's offset during IK computation (#3523)
• Pilz: Tranform goal pose and center point w.r.t. planning frame (#3522)
• Silent error msg: Found empty JointState message
• Replace Eigen::Affine3D -> Eigen::Isometry3D
• Fix Pilz planners to consider and plan Cartesian motions w.r.t. subframes (#3519)
• Constrain orocos_kdl to ROS Melodic
• Contributors: Captain Yoshi, Robert Haschke, Tom Noble

1.1.13 (2023-07-28)

1.1.12 (2023-05-13)

• Fix (some) doxygen warnings (#3315)
• Drop lib/ prefix from plugin paths (#3305)
• Contributors: Jochen Sprickerhof, Robert Haschke

1.1.11 (2022-12-21)

• Merge fixes+improvements to PlanningScene editing in rviz: #3263, #3264, #3296
• Contributors: Robert Haschke

1.1.10 (2022-09-13)

• Add missing header for std::unique_ptr (#3180)
• Switch to hpp headers of pluginlib
• Replace bind() with lambdas (#3106)
• Contributors: Jochen Sprickerhof, Michael Görner

1.1.9 (2022-03-06)

1.1.8 (2022-01-30)

• Avoid downgrading default C++ standard (#3043)
• Resolve ambiguous function specification (#3040)
• Contributors: Jochen Sprickerhof

1.1.7 (2021-12-31)

• Pilz planner: improve reporting of invalid start joints (#3000)
• Switch to std::bind (#2967)
• Contributors: Jochen Sprickerhof, Robert Haschke, v4hn

1.1.6 (2021-11-06)

• Fix calculation of subframe offset (#2890)
• Remove unused moveit_planning_execution.launch
• Use test_environment.launch in unittests (#2949)
• Rename launch argument execution_type -> fake_execution_type
• Improve error messages (#2940)
  • Remove deprecated xacro --inorder
  • Don't complain about missing limits for irrelevant JMGs
  • Avoid duplicate error messages
  • Downgrade ERROR to WARN when checking joint limits, report affected joint name
  • Quote (possibly empty) planner id
• Consider attached bodies for planning (#2773, #2824, #2878)
• Fix collision detection: consider current PlanningScene (#2803)
• Add planning_pipeline_id to MotionSequence action + service (#2755)
• clang-tidy: modernize-make-shared, modernize-make-unique (#2762)
• Contributors: Felix von Drigalski, Leroy Rügemer, Michael Görner, Robert Haschke, Tom Noble, aa-tom, cambel, pvanlaar

1.1.5 (2021-05-23)

• Allow selecting planning pipeline in MotionSequenceAction (#2657)
• Contributors: Felix von Drigalski

1.1.4 (2021-05-12)

1.1.3 (2021-04-29)

• Skip fixed joints when checking velocity limits (#2610)
• Contributors: Christian Landgraf

1.1.2 (2021-04-08)

• Fix formatting errors
• Replaced eigen+kdl conversions with tf2_eigen + tf2_kdl (#2472)
• Add missing dependency on joint_limits_interface (#2487)
• Use kinematics solver timeout if not specified otherwise (#2489)
• pilz planner: add string includes (#2483)
• Upgrade cmake_minimum_required to 3.1 (#2453)
• Add Pilz industrial motion planner (#1893)
• Contributors: Pilz GmbH and Co. KG, Christian Henkel, Immanuel Martini, Michael Görner, Robert Haschke, Tyler Weaver, petkovich