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
  • Misspelled MoveIt (#2692)
  • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
  • Halt Servo command on Pose Tracking stop (#2501)
  • stop_requested_ flag clearing fix (#2537)
  • add missing include (#2519)
  • Refactor velocity bounds enforcement (#2471)
• Contributors: AdamPettinger, AndyZe, Henning Kayser, Jafar Abdi, JafarAbdi, Jere Liukkonen, Michael Görner, Nathan Brooks, Robert Haschke, Tyler Weaver, Vatan Aksoy Tezer, parunapu

2.1.4 (2021-05-31)

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

2.1.3 (2021-05-22)

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

2.1.2 (2021-04-20)

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

2.1.1 (2021-04-12)

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

2.1.0 (2020-11-23)

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

1.1.1 (2020-10-13)

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

1.1.0 (2020-09-04)

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

1.0.6 (2020-08-19)

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

1.0.5 (2020-07-08)

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

1.0.1 (2019-03-08)

1.0.0 (2019-02-24)

0.10.8 (2018-12-24)

0.10.5 (2018-11-01)

0.10.4 (2018-10-29 19:44)

0.10.3 (2018-10-29 04:12)

0.10.2 (2018-10-24)

0.10.1 (2018-05-25)

0.10.0 (2018-05-22)

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

0.9.9 (2017-08-06)

0.9.8 (2017-06-21)

0.9.7 (2017-06-05)

0.9.6 (2017-04-12)

0.9.5 (2017-03-08)

0.9.4 (2017-02-06)

0.9.3 (2016-11-16)

0.9.2 (2016-11-05)

0.9.1 (2016-10-21)