Please consult tutorials and the official documentation.

For details about the blend algorithm please refer to .

Changelog for package pilz_industrial_motion_planner

2.12.0 (2024-11-29)

• Enhancement/use hpp for headers (#3113)
• Fix: Resolve race condition in MoveGroupSequenceAction (#3125)
• Fixes pilz tests (#3095)
• Allow RobotState::setFromIK to work with subframes (#3077)
• Enhancement/ports moveit 3522 (#3070)
• Ports moveit/moveit/pull/3519 to ros2 (#3055)
• Enhancement/moveit ros1 ports (#3041)
• Contributors: Maxwell.L, Tom Noble

2.11.0 (2024-09-16)

• Fix Pilz blending times... the right way (#2961)
• Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943)
• Contributors: Chris Schindlbeck, Sebastian Castro

2.10.0 (2024-06-13)

• Apply clang-tidy fixes
• 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/*''
• Unify log names (#2720) Co-authored-by: Abishalini Sivaraman <<abi.gpuram@gmail.com>>
• Add parameter api integration test (#2662)
• CMake format and lint in pre-commit (#2683)
• Contributors: Robert Haschke, Sebastian Jahr, Tyler Weaver

2.9.0 (2024-01-09)

• Node logging for the rest of MoveIt (#2599)
• [Planning Pipeline Refactoring] #2 Enable chaining planners (#2457)
  • Enable chaining multiple planners
• [Planning Pipeline Refactoring] #1 Simplify Adapter - Planner chain (#2429)
• Add new clang-tidy style rules (#2177)
• Do not pass and return simple types by const ref (#2453) Co-authored-by: Nils <<nilsmailiseke@gmail.com>>
• Update pre-commit and add to .codespell_words (#2465)
• Use generate parameters library in PlanningPipelineClass + general cleanups (#2288)
  • Don't discard stuff
  • Move constants into source file
  • Move static consts into header
  • Don't ignore pipeline result
  • Use generate parameter library for planning pipeline parameters
  • Fix CI
  • More CI fixes
  • Remove more state from planning pipeline
  • Small cleanups
  • Assert planner_instance_ is not a nullptr
  • Remove valid variable
  • Simplify logic for trajectory printing
  • More helpful comments
  • Small logic simplification by using break
  • Fix clang-tidy
  • Pre-commit + Deprecate functions instead of removing them
  • Fix CI
• Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
• Fix for already declared deceleration parameters when using Pilz (#2388)
  • Fix for already declare deceleration parameters when using Pilz
  • Updated formatting

  * Updated formatting ---------Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

• Update clang-format-14 with QualifierAlignment (#2362)
  • Set qualifier order in .clang-format
  • Ran pre-commit to update according to new style guide
• Merge branch 'main' into dependabot/github_actions/SonarSource/sonarcloud-github-c-cpp-2
• Contributors: Jens Vanhooydonck, Marq Rasmussen, Sebastian Jahr, Shobuj Paul, Tyler Weaver

2.8.0 (2023-09-10)

• Fx class_loader warnings in PILZ unittests (#2296)
• Always set response planner id and warn if it is not set (#2236)
• Pilz multi-group incompatibility (#1856)
• Enhance PILZ service request checks (#2087)
• Contributors: Marco Magri, Sebastian Jahr, Yang Lin

2.7.4 (2023-05-18)

2.7.3 (2023-04-24)

• Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (#2020)
• Contributors: Shobuj Paul

2.7.2 (2023-04-18)

• Update pre-commit (#2094)
• PILZ: Throw if IK solver doesn't exist (#2082)
  • Throw if IK solver doesn't exist
  • Format
• Contributors: Sebastian Jahr, Shobuj Paul

2.7.1 (2023-03-23)

• Remove "new" from smart pointer instantiation (#2019)

• Fix member naming (#1949) * Update clang-tidy rules for readability-identifier-naming Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

• remove underscore from public member in MotionPlanResponse (#1939)
  • remove underscore from private members
  • fix more uses of the suffix notation
• Contributors: AlexWebb, Robert Haschke, Shobuj Paul

2.7.0 (2023-01-29)

• Merge PR #1712: fix clang compiler warnings + stricter CI
• converted characters from string format to character format (#1881)
• Add default constructors ... as they are not implicitly declared anymore
• Add default copy/move constructors/assignment operators As a user-declared destructor deletes any implicitly-defined move constructor/assignment operator, we need to declared them manually. This in turn requires to declare the copy constructor/assignment as well.
• Fix -Wunused-lambda-capture
• fix: resolve bugs in MoveGroupSequenceAction class (main branch) (#1797)
  • fix: resolve bugs in MoveGroupSequenceAction class

  * style: adopt .clang-format Co-authored-by: Marco Magri <<marco.magri@fraunhofer.it>>

• 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.
• 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
• Cleanup lookup of planning pipelines in MoveItCpp (#1710)
  • Revert "Add planner configurations to CHOMP and PILZ (#1522)"

  * Cleanup lookup of planning pipelines Remove MoveItCpp::getPlanningPipelineNames(), which was obviously intended initially to provide a planning-group-based filter for all available planning pipelines: A pipeline was discarded for a group, if there were no [planner_configs]{.title-ref} defined for that group on the parameter server. As pointed out in #1522, only OMPL actually explicitly declares planner_configs on the parameter server. To enable all other pipelines as well (and thus circumventing the original filter mechanism), #1522 introduced empty dummy planner_configs for all other planners as well (CHOMP + Pilz). This, obviously, renders the whole filter mechanism useless. Thus, here we just remove the function getPlanningPipelineNames() and the corresponding member groups_pipelines_map_.

• 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>>

• Contributors: Chris Thrasher, Christian Henkel, Cory Crean, Marco Magri, Robert Haschke, Sameer Gupta

2.6.0 (2022-11-10)

• Use generate_parameter_library to load pilz cartesian limit parameters (#1577)
• Add joint acceleration validator methods to Pilz limits container (#1638)
• Use MoveItConfigsBuilder in Pilz test launch file (#1571)
• Improve CMake usage (#1550)
• Add planner configurations to CHOMP and PILZ (#1522)
• Use pragma once as header include guard (#1525)
• Removed plan_with_sensing (#1142)
• Remove __has_include statements (#1481)
• Merge https://github.com/ros-planning/moveit/commit/a63580edd05b01d9480c333645036e5b2b222da9
• Add missing header for std::unique_ptr (#3180)
• Contributors: Abishalini Sivaraman, J. Javan, Jochen Sprickerhof, Sebastian Castro, Sebastian Jahr, Stephanie Eng, Vatan Aksoy Tezer, abishalini

2.5.3 (2022-07-28)

• rename header files so debs are installable (#1443)
• Contributors: Michael Ferguson

2.5.2 (2022-07-18)

• Rename cartesian_limits.yaml (#1422) Co-authored-by: Tyler Weaver <<maybe@tylerjw.dev>>
• 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) Co-authored-by: Vatan Aksoy Tezer <<vatan@picknik.ai>>
• Remove unnecessary rclcpp.hpp includes (#1333)
• Switch to hpp headers of pluginlib
• Merge pull request #3106 from v4hn/pr-master-bind-them-all / banish bind()
• banish bind()
• Contributors: AndyZe, David V. Lu, Henry Moore, Jafar, Jochen Sprickerhof, Michael Görner, Vatan Aksoy Tezer, v4hn

2.5.1 (2022-05-31)

• Fix exporting PILZ's move_group capabilities (#1281)
• Contributors: Jafar

2.5.0 (2022-05-26)

• 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
• Fix double delete in PILZ CIRC generation (#1229)
• 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
• Use orocos_kdl_vendor package (#1207)
• Remove new operators (#1135) replace new operator with make_shared
• [moveit_cpp] Fix double param declaration (#1097)
• Merge https://github.com/ros-planning/moveit/commit/a25515b73d682df03ed3eccd839110c296aa79fc
• Fix missing boost::ref -> std::ref
• Merge https://github.com/ros-planning/moveit/commit/ab42a1d7017b27eb6c353fb29331b2da08ab0039
• Compilation fixes for Jammy and bring back Rolling CI (#1095)
• Merge https://github.com/ros-planning/moveit/commit/25a63b920adf46f0a747aad92ada70d8afedb3ec
• Merge https://github.com/ros-planning/moveit/commit/0d7462f140e03b4c319fa8cce04a47fe3f650c60
• Avoid downgrading default C++ standard (#3043)
• Resolve ambiguous function specification (#3040) As Eigen introduced construction from brace-initializers as well, we do need to distinguish between void setJointGroupPositions(const JointModelGroup* group, const std::vector<double>&) and void setJointGroupPositions(const JointModelGroup* group, const Eigen::VectorXd&)
• Add missing test dependencies (#1027)
• Add moveit_configs_utils package to simplify loading paramters (#591)
• Merge pr #3000: Pilz planner: improve reporting of invalid start joints
• pilz: restrict start state check to active group
• pilz: report joint name with invalid limits in start state it does not provide enough feedback, is almost trivial and does redundant checks in the single case it's called from.
• Switch to std::bind (#2967)
• Fix orientation of subframe offset in Pilz planners (#2890) Fix #2879 by reorienting the subframe offset applied to a goal pose in the PTP planner,
• Merge PRs #2948 (improve CI) and #2949 (simplify ROS .test files)
• Remove unused moveit_planning_execution.launch
• Use test_environment.launch in unittests
• Rename launch argument execution_type -> fake_execution_type ... to clarify that this parameter is only used for fake controllers
• Pilz unittests: use test_environment.launch
• Merge PR #2940: Improve error messages of Pilz planner
• Fix typo: demangel -> demangle
• Remove deprecated xacro --inorder
• Fix unittests by providing a valid JMG
• Don't complain about missing limits for irrelevant JMGs When planning an arm motion, Pilz's PTP planner shouldn't complain (and bail out) on missing joint limits of hand joints!
• Avoid duplicate error messages
• Improve error messages
  • Downgrade ERROR to WARN
  • Report affected joint name
  • Quote (possibly empty) planner id
• Contributors: Abishalini, Gaël Écorchard, Henning Kayser, Jafar, Jafar Abdi, Jochen Sprickerhof, Robert Haschke, Sencer Yazıcı, Tom Noble, Tyler Weaver, Vatan Aksoy Tezer, jeoseo, v4hn

2.4.0 (2022-01-20)

• Remove 'using namespace' from header files. (#994)
• Fix missing ament_cmake_gtest dependency (#981)
• Remove some Maintainers from Pilz Planner (#971)
• Fix usage of boost placeholder (#958)
• Merge https://github.com/ros-planning/moveit/commit/a0ee2020c4a40d03a48044d71753ed23853a665d
• Remove '-W*' options from cmake files (#2903)

• Add test for pilz planner with attached objects (#2878) * Add test case for #2824 Co-authored-by: Cristian Beltran <<cristianbehe@gmail.com>> Co-authored-by: Joachim Schleicher <<joachimsl@gmx.de>> Co-authored-by: jschleicher <<j.schleicher@pilz.de>>

• Contributors: Abishalini, Cory Crean, Leroy Rügemer, Tyler Weaver, Wolf Vollprecht, cambel, jschleicher

2.3.2 (2021-12-29)

2.3.1 (2021-12-23)

• Convert to modern include guard #882 (#891)
• Add codespell to precommit, fix A LOT of spelling mistakes (#934)
• Get rid of "std::endl" (#918)
• changed post-increments in loops to preincrements (#888)
• Consider simulated time (#883)
• Use CallbackGroup for MoveGroupSequenceAction
• PILZ: Build fixups, silence warnings, fix unit tests
• PILZ: Migrate and Restructure test directory
• PILZ: Migrate planner and testutils packages to ROS 2
• Enforce package.xml format 3 Schema (#779)
• Consider attached bodies in Pilz planner #2773 (#2824)
  • Remove convertToRobotTrajectory() and integrate its line of code into setSuccessResponse()
  • Pass the final start_state into setSuccessResponse()
• Fix Pilz planner's collision detection (#2803) We need to pass the current PlanningScene down to the actual collision checking methods
• Add planning_pipeline_id to MotionSequence service (#2755)
  • Add planning_pipeline_id to MotionSequence action and service
  • check for empty request
• clang-tidy: modernize-make-shared, modernize-make-unique (#2762)
• Improve readability of comment
• Contributors: David V. Lu!!, Felix von Drigalski, Gaël Écorchard, Henning Kayser, Parthasarathy Bana, Robert Haschke, Sebastian Jahr, Sencer Yazıcı, aa-tom, cambel, predystopic-dev, pvanlaar
• [feature] Add Pilz industrial motion planner (#1893)
• Contributors: Pilz GmbH and Co. KG, Christian Henkel, Immanuel Martini, Joachim Schleicher, rfeistenauer