MoveIt Setup Assistant

Changelog for package moveit_setup_assistant

1.1.16 (2024-10-07)

1.1.15 (2024-09-09)

• Fix formatting of boost option definitions
• Contributors: Robert Haschke

1.1.14 (2024-05-27)

• MSA: Add missing filename attribute to gazebo plugin tag (#3572)
• [ROS-O] update Boost API (melodic compatible) (#3564)
• Cleanup const-ref arguments to double+int (#3560)
• Support ompl::ompl cmake target (#3549)
• Enable higher number of self-collision checking samples (#3529)
• MSA ControllerWidget: allow digits in controller names (#3528)
• Remove unused variables (#3507)
• Contributors: Abe Maclean, Michael Görner, Robert Haschke, Salih Marangoz

1.1.13 (2023-07-28)

• Fix OMPL's TRRT parameter names (#3461)
• Contributors: VideoSystemsTech

1.1.12 (2023-05-13)

• Add AITstar, BITstar and ABITstar planners from OMPL >= 1.5 (#3347)
• Allow configuration of goal tolerances in kinematics.yaml (#3409)
• MSA: Fix 3D Perception widget (#3399)
• Fix deprecation warnings in Debian bookworm (#3397)
• Contributors: Michael Görner, Robert Haschke, alaflaquiere

1.1.11 (2022-12-21)

• MSA: Cleanup SimulationWidget (#3281)
  • Don't rewrite gazebo.launch after user changes
  • Only offer to write gazebo\_*.urdf if content would be non-empty
  • Clarify usage
  • Graceful opening of editor
  • Disable "overwrite" button if there are no changes
  • If overwriting fails: write gazebo\_*.urdf as fallback

• Remove capabilities declaration from pipeline configs (#3274)

  Capabilities are global to the move_group node and not specific to pipleline configs. As the latter ones load their parameters into a namespace, e.g. /move_group/planning_pipelines/ompl/*, loading a capability as suggested by the comments, didn't have any effect.

• Expose world_name and world_pose args in *gazebo.launch (#3238)
• run-depend on all default MoveIt planners
• Start robot_state_publisher in gazebo.launch (#3236)
• Generalize sizing of joint list widgets (#3219)
• Contributors: Robert Haschke, Robert Kampf

1.1.10 (2022-09-13)

• Limit Cartesian speed for link(s) (#2856)
• MSA templates: replace hard-coded package name
• Extended ACM editing in MSA (#3093)
  • Allow disabling/enabling links by default
  • Use matrix view by default
• Optionally enable dynamics monitoring in move_group node (#3137)
• Replace bind() with lambdas (#3106)
• Improve Gazebo-compatible URDF generation in MSA (#3081)
• Contributors: AM4283, Michael Görner, Robert Haschke, rickstaa

1.1.9 (2022-03-06)

• Fix collisions_updater's set comparison (#3076)
• MSA: boost::bind -> std::bind (#3039)
• Do not automatically load robot description in move_group.launch (#3065)
• Contributors: Jochen Sprickerhof, Loy van Beek, Michael Görner

1.1.8 (2022-01-30)

• Implement ACM defaults as a fallback instead of an override (#2938)
• MSA: Add STOMP + OMPL-CHOMP configs (#2955)
  • Add stomp planner to MSA
  • Add OMPL-CHOMP planner to MSA
  • Remove obsolete CHOMP parameters
  • Update CHOMP config parameters to match code defaults
  • Create CHOMP config via template (instead of code)
• Move MoveItConfigData::setCollisionLinkPairs to collisions_updater.cpp
• Contributors: Rick Staa, Robert Haschke

1.1.7 (2021-12-31)

• Pass xacro_args to both, urdf and srdf loading (#3013)
• Switch to std::bind (#2967)
• Update timestamp of .setup_assistant file when writing files (#2964)
• Upload controller_list for simple controller manager (#2954)
• Contributors: Jochen Sprickerhof, Rick Staa, Robert Haschke

1.1.6 (2021-11-06)

• Use newly introduced cmake macro moveit_build_options() from moveit_core
• Correctly state not-found package name
• Finish setup_assistant.launch when MSA finished (#2749)
• Enabling the following new features requires recreation of your robot's MoveIt config with the new MSA!
• Various improvements (#2932)
  • Define default planner for Pilz pipeline
  • Allow checking/unchecking multiple files for generation
  • moveit.rviz: Use Orbit view controller
  • Rename launch argument execution_type -> fake_execution_type to clarify that this parameter is only used for fake controllers
  • demo.launch: Start joint + robot-state publishers in fake mode only
  • Modularize demo_gazebo.launch reusing demo.launch
  • gazebo.launch
    • Delay unpause to ensure that the robot's initial pose is actually held
    • Allow initial_joint_positions
    • Load URDF via xacro if neccessary

  • Rework moveit_controller_manager handling

    So far, move_group.launch distinguished between fake and real-robot operation only. The boolean launch-file argument fake_execution was translated to moveit_controller_manager = [fake|robot] in move_group.launch and then further translated to the actual plugin name.

    However, MoveIt provides 3 basic controller manager plugins:

    • fake = moveit_fake_controller_manager::MoveItFakeControllerManager (default in demo.launch)

      Doesn't really control the robot. Provides these interpolation types (fake_execution_type):

      • via points: jumps to the via points
      • interpolate: linearly interpolates between via points (default)
      • last point: jumps to the final trajectory point (used for fast execution testing)

    • ros_control = moveit_ros_control_interface::MoveItControllerManager

      Interfaces to ros_control controllers.

    • simple = moveit_simple_controller_manager/MoveItSimpleControllerManager Interfaces to action servers for FollowJointTrajectory and/or GripperCommand that in turn interface to the low-level robot controllers (typically based on ros_control).

    Now, the argument moveit_controller_manager allows for switching between these 3 variants using the given names. Adding more *_moveit_controller_manager.launch files allows for further extension of this scheme.

• Rework Controller Handling (#2945)
  • Write separate controller config files for different MoveIt controller managers:
    • fake_controllers.yaml for use with MoveItFakeControllerManager
    • simple_moveit_controllers.yaml handles everything relevant for MoveItSimpleControllerManager
    • ros_controllers.yaml defines ros_control controllers
    • gazebo_controllers.yaml lists controllers required for Gazebo
  • Rework controller config generation
    • Provide all types of JointTrajectoryController (position, velocity, and effort based) as well as FollowJointTrajectory and GripperCommand (use by simple controller manager)
    • Use effort_controllers/JointTrajectoryController as default
    • Create FollowJointTrajectory entries for any JointTrajectoryController
    • Fix controller list generation: always write joint names as a list
  • Code refactoring to clarify that controller widget handles all controllers, not only ros_control controllers
    • Update widget texts to speak about generic controllers
    • Rename ROSControllersWidget -> ControllersWidget
    • Rename files ros_controllers_widget.* -> controllers_widget.*
    • Rename ros_controllers_config_ -> controller_configs_
    • Rename functions *ROSController* -> *Controller*
    • Rename ROSControlConfig -> ControllerConfig
• Fix sensor config handling (#2708, #2946)
• Load planning pipelines into their own namespace (#2888)
• Add jiggle_fraction arg to trajopt template (#2858)
• Only define default values for input argumens in *_planning_pipeline.launch templates (#2849)
• Mention (optional) Gazebo deps in package.xml templates (#2839)
• Create static_transform_publisher for each virtual joint type (#2769)
• Use $(dirname) in launch files (#2748)
• CHOMP: Read parameters from proper namespace (#2707)
  • Pilz pipeline: remove unused arg start_state_max_bounds_error
  • Set jiggle_fraction per pipeline
  • Rename param clearence to clearance
• Load max_safe_path_cost into namespace sense_for_plan (#2703)
• Contributors: David V. Lu!!, Martin Günther, Max Puig, Michael Görner, Rick Staa, Robert Haschke, pvanlaar, v4hn

1.1.5 (2021-05-23)

1.1.4 (2021-05-12)

1.1.3 (2021-04-29)

• Let users override fake execution type from demo.launch (#2602)
• Contributors: Michael Görner

1.1.2 (2021-04-08)

• Fix formatting errors
• Fix segfault in MSA (#2564)
• Support multiple planning pipelines with MoveGroup via MoveItCpp (#2127)
• Update MSA launch templates for multi-pipeline support
• Missing RViz and moveit_simple_controller_manager dependencies in MSA template (#2455)
• Fix empty sequence in moveit_setup_assistant (#2406)
• Add Pilz industrial motion planner (#1893)
• MSA launch files: fix indentation (#2371)
• Contributors: Christian Henkel, David V. Lu!!, Henning Kayser, Michael Görner, Tyler Weaver

1.1.1 (2020-10-13)

• [feature] Allow showing both, visual and collision geometry (#2352)
• [fix] layout (#2349)
• [fix] group editing (#2350)
• [fix] only write default_planner_config field if any is selected (#2293)
• [fix] Segfault when editing pose in moveit_setup_assistant (#2340)
• [fix] disappearing robot on change of reference frame (#2335)
• [fix] robot_description is already loaded in move_group.launch (#2313)
• [maint] Cleanup MSA includes (#2351)
• [maint] Add comment to MOVEIT_CLASS_FORWARD (#2315)
• Contributors: Felix von Drigalski, Michael Görner, Robert Haschke, Tyler Weaver, Yoan Mollard

1.1.0 (2020-09-04)

• [feature] Start new joint_state_publisher_gui on param use_gui (#2257)
• [feature] Optional cpp version setting (#2166)
• [feature] Add default velocity/acceleration scaling factors (#1890)
• [feature] MSA: use matching group/state name for default controller state (#1936)
• [feature] MSA: Restore display of current directory (#1932)
• [feature] Cleanup: use range-based for-loop (#1830)
• [feature] Add delete process to the doneEditing() function in end_effectors_widgets (#1829)
• [feature] Fix Rviz argument in demo_gazebo.launch (#1797)
• [feature] Allow user to specify planner termination condition. (#1695)
• [feature] Add OMPL planner 'AnytimePathShortening' (#1686)
• [feature] MVP TrajOpt Planner Plugin (#1593)
• [feature] Use QDir::currentPath() rather than getenv("PWD") (#1618)
• [feature] Add named frames to CollisionObjects (#1439)
• [fix] Various fixes for upcoming Noetic release (#2180)
• [fix] Fix ordering of request adapters (#2053)
• [fix] Fix some clang tidy issues (#2004)
• [fix] Fix usage of panda_moveit_config (#1904)
• [fix] Fix compiler warnings (#1773)
• [fix] Use portable string() on <filesystem::path>. (#1571)
• [fix] Fix test utilities in moveit core (#1409)
• [maint] clang-tidy fixes (#2050, #1419)
• [maint] Replace namespaces robot_state and robot_model with moveit::core (#1924)
• [maint] Switch from include guards to pragma once (#1615)
• [maint] Remove ! from MoveIt name (#1590)
• [maint] remove obsolete moveit_resources/config.h (#1412)
• Contributors: AndyZe, Ayush Garg, Daniel Wang, Dave Coleman, Felix von Drigalski, Henning Kayser, Jafar Abdi, Jonathan Binney, Mark Moll, Max Krichenbauer, Michael Görner, Mike Lautman, Mohmmad Ayman, Omid Heidari, Robert Haschke, Sandro Magalhães, Sean Yen, Simon Schmeisser, Tejas Kumar Shastha, Tyler Weaver, Yoan Mollard, Yu, Yan, jschleicher, tnaka, v4hn

1.0.6 (2020-08-19)

• [maint] Adapt repository for splitted moveit_resources layout (#2199)
• [maint] Migrate to clang-format-10, fix warnings
• [fix] Define planning adapters for chomp planning pipeline (#2242)
• [maint] Remove urdf package as build_depend from package.xml (#2207)
• Contributors: Jafar Abdi, Robert Haschke, tnaka, Michael Görner

1.0.5 (2020-07-08)

• [fix] Fix catkin_lint issues (#2120)
• [feature] Add use_rviz to demo.launch in setup_assistant (#2019)
• Contributors: Henning Kayser, Jafar Abdi, Michael Görner, Robert Haschke, Tyler Weaver

1.0.4 (2020-05-30)

1.0.3 (2020-04-26)

• [feature] Allow loading of additional kinematics parameters file (#1997)
• [feature] Allow adding initial poses to fake_controllers.yaml (#1892)
• [feature] Display robot poses on selection, not only on click (#1930)
• [fix] Fix invalid iterator (#1623)
• [maint] Apply clang-tidy fix to entire code base (#1394)
• [maint] Fix errors: catkin_lint 1.6.7 (#1987)
• [maint] Windows build fixes
  • Fix header inclusion and other MSVC build errors (#1636)
  • Fix binary artifact install locations. (#1575)
  • Favor ros::Duration.sleep over sleep. (#1634)
  • Fix binary artifact install locations. (#1575)
• [maint] Use CMAKE_CXX_STANDARD to enforce c++14 (#1607)
• [feature] Add support for pos_vel_controllers and pos_vel_acc_controllers (#1806)
• [feature] Add joint state controller config by default (#1024)
• Contributors: AndyZe, Daniel Wang, Felix von Drigalski, Jafar Abdi, Max Krichenbauer, Michael Görner, Mohmmad Ayman, Robert Haschke, Sandro Magalhães, Sean Yen, Simon Schmeisser, Tejas Kumar Shastha, Yu, Yan, v4hn

1.0.2 (2019-06-28)

• [fix] static transform publisher does not take a rate (#1494)
• [feature] Add arguments [load_robot_description]{.title-ref}, [pipeline]{.title-ref}, [rviz config_file]{.title-ref} to launch file templates (#1397)
• Contributors: Mike Lautman, Robert Haschke, jschleicher

1.0.1 (2019-03-08)

• [fix] re-add required build dependencies (#1373)
• [improve] Apply clang tidy fix to entire code base (Part 1) (#1366)
• Contributors: Isaac I.Y. Saito, Robert Haschke, Yu, Yan

1.0.0 (2019-02-24)

• [fix] catkin_lint issues (#1341)
• [fix] memory leaks (#1292)
• [improve] Remove (redundant) random seeding and #attempts from RobotState::setFromIK() as the IK solver perform random seeding themselves. #1288
• [improve] support dark themes (#1173)
• Contributors: Dave Coleman, Robert Haschke, Victor Lamoine

0.10.8 (2018-12-24)

0.10.7 (2018-12-13)

0.10.6 (2018-12-09)

• [enhancement] Create demo_gazebo.launch (#1051)
• [maintenance] Cleanup includes to speedup compiling (#1205)
• [maintenance] Use C++14 (#1146)
• [maintenance] Code Cleanup
  • #1179
  • #1196
• Contributors: Alex Moriarty, Dave Coleman, Michael Görner, Robert Haschke

0.10.5 (2018-11-01)

0.10.4 (2018-10-29)

• [fix] Build regression (#1170)
• Contributors: Robert Haschke

0.10.3 (2018-10-29)

• [fix] compiler warnings (#1089)
• Contributors: Robert Haschke

0.10.2 (2018-10-24)

• [fix] Some bugs (#1022, #1013, #1040)
• [capability][chomp] Failure recovery options for CHOMP by tweaking parameters (#987)
• [capability] New screen for automatically generating interfaces to low level controllers(#951, #994, #908)
• [capability] Perception screen for using laser scanner point clouds. (#969)
• [enhancement][GUI] Logo for MoveIt 2.0, cleanup appearance (#1059)
• [enhancement][GUI] added a setup assistant window icon (#1028)
• [enhancement][GUI] Planning Groups screen (#1017)
• [enhancement] use panda for test, and write test file in tmp dir (#1042)
• [enhancement] Added capabilties as arg to move_group.launch (#998)
• [enhancement] Add moveit_setup_assistant as depenency of all *_moveit_config pkgs (#1029)
• [maintenance] various compiler warnings (#1038)
• [enhancement] Improving gazebo integration. (#956, #936)
• [maintenance] Renamed wedgits in setup assistant wedgit to follow convention (#995)
• [capability][chomp] cleanup of unused parameters and code + addition of trajectory initialization methods (linear, cubic, quintic-spline) (#960)
• Contributors: Alexander Gutenkunst, Dave Coleman, Mike Lautman, MohmadAyman, Mohmmad Ayman, Raghavender Sahdev, Robert Haschke, Sohieb Abdelrahman, mike lautman

0.10.1 (2018-05-25)

• [maintenance] migration from tf to tf2 API (#830)
• [maintenance] cleanup yaml parsing, remove yaml-cpp 0.3 support (#795)
• [feature] allow editing of xacro args (#796)
• Contributors: Dave Coleman, Ian McMahon, Michael Görner, Mikael Arguedas, Robert Haschke, Will Baker

0.9.11 (2017-12-25)

0.9.10 (2017-12-09)

• [fix][kinetic onward] msa: use qt4-compatible API for default font (#682)
• [fix][kinetic onward] replace explicit use of Arial with default application font (#668)
• [fix] add moveit_fake_controller_manager to run_depend of moveit_config_pkg_template/package.xml.template (#613)
• [fix] find and link against tinyxml where needed (#569)
• Contributors: Kei Okada, Michael Görner, Mikael Arguedas, William Woodall

0.9.9 (2017-08-06)

• [setup_assistant] Fix for lunar (#542) (fix #506)
• Contributors: Dave Coleman

0.9.8 (2017-06-21)

• [enhance] setup assistant: add use_gui param to demo.launch (#532)
• [build] add Qt-moc guards for boost 1.64 compatibility (#534)
• Contributors: Michael Goerner

0.9.7 (2017-06-05)

• [fix] Build for Ubuntu YZ by adding BOOST_MATH_DISABLE_FLOAT128 (#505)
• [improve][MSA] Open a directory where setup_assistant.launch was started. (#509)
• Contributors: Isaac I.Y. Saito, Mikael Arguedas

0.9.6 (2017-04-12)

• [improve] Add warning if no IK solvers found (#485)
• Contributors: Dave Coleman

0.9.5 (2017-03-08)

• [fix][moveit_ros_warehouse] gcc6 build error #423
• Contributors: Dave Coleman

0.9.4 (2017-02-06)

• [fix] Qt4/Qt5 compatibility #413
• [fix] show disabled collisions as matrix (#394)
• Contributors: Dave Coleman, Robert Haschke, Michael Goerner

0.9.3 (2016-11-16)

• [capability] Exposed planners from latest ompl release. (#338)
• [enhancement] Increase collision checking interval (#337)
• [maintenance] Updated package.xml maintainers and author emails #330
• Contributors: Dave Coleman, Ian McMahon, Ruben Burger

0.9.2 (2016-11-05)

• [Fix] xacro warnings in Kinetic (#334) [Capability] Allows for smaller collision objects at the cost of increased planning time
• [Improve] Increase the default discretization of collision checking motions (#321)
• [Maintenance] Auto format codebase using clang-format (#284)
• Contributors: Dave Coleman

0.7.1 (2016-06-24)

• [sys] Qt adjustment.
  • relax Qt-version requirement. Minor Qt version updates are ABI-compatible with each other: https://wiki.qt.io/Qt-Version-Compatibility
  • auto-select Qt version matching the one from rviz #114
  • Allow to conditionally compile against Qt5 by setting -DUseQt5=On
• [sys] Add line for supporting CMake 2.8.11 as required for Indigo
• [sys][travis] Update CI conf for ROS Jade (and optionally added Kinetic) #116
• [feat] add ApplyPlanningScene capability to template
• Contributors: Dave Coleman, Isaac I.Y. Saito, Robert Haschke, Simon Schmeisser (isys vision), v4hn

0.7.0 (2016-01-30)

• Merge pull request from ipa-mdl/indigo-devel Added command-line SRDF updater
• renamed target output to collisions_updater
• formatted code to roscpp style
• More verbose error descriptions, use ROS_ERROR_STREAM
• moved file loader helpers into tools
• added licence header
• Missed a negation sign
• CollisionUpdater class was not really needed
• factored out createFullURDFPath and createFullSRDFPath
• factored out MoveItConfigData::getSetupAssistantYAMLPath
• factored out MoveItConfigData::setPackagePath
• factored out setCollisionLinkPairs into MoveItConfigData
• require output path to be set if SRDF path is overwritten by a xacro file path
• separated xacro parsing from loadFileToString
• make disabled_collisions entries unique
• Added command-line SRDF updater
• Merge pull request from 130s/fix/windowsize Shrink window height
• Add scrollbar to the text area that could be squashed.
• Better minimum window size.
• Merge pull request #103 from gavanderhoorn/issue102_cfgrble_db_path Fix for issue #102 : allow user to set mongodb db location
• Update warehouse launch file to accept non-standard db location. Fix #102. Also update generated demo.launch accordingly. The default directory could be located on a non-writable file system, leading to crashes of the mongodb wrapper script. This change allows the user to specify an alternative location using the 'db_path' argument.
• Update configuration_files_widget.cpp Fix link
• Contributors: Dave Coleman, Ioan A Sucan, Isaac IY Saito, Mathias Lüdtke, Nathan Bellowe, Sachin Chitta, gavanderhoorn, hersh

0.6.0 (2014-12-01)

• Values are now read from kinematics.yaml correctly.
• Simplified the inputKinematicsYAML() code.
• Debug and octomap improvements in launch file templates
• Values are now read from kinematics.yaml correctly. Previously, keys such as "kinematics_solver" were not found.
• Added clear octomap service to move_group launch file template
• Added gdb debug helper that allows easier break point addition
• Add launch file for joystick control of MotionPlanningPlugin
• Joint limits comments
• Removed velocity scaling factor
• Added a new 'velocity_scaling_factor' parameter to evenly reduce max joint velocity for all joints. Added documentation.
• Simply renamed kin_model to robot_model for more proper naming convension
• Added new launch file for controll Rviz with joystick
• use relative instead of absolute names for topics (to allow for namespaces)
• Added planner specific parameters to ompl_planning.yaml emitter.
• Added space after every , in function calls Added either a space or a c-return before opening { Moved & next to the variable in the member function declarations
• Added planner specific parameters to ompl_planning.yaml emitter. Each parameter is set to current defaults. This is fragile, as defaults may change.
• Contributors: Chris Lewis, Dave Coleman, Ioan A Sucan, Jim Rothrock, ahb, hersh

0.5.9 (2014-03-22)

• Fixed bug 82 in a quick way by reducing min size.
• Fix for issue #70: support yaml-cpp 0.5+ (new api).
• Generate joint_limits.yaml using ordered joints
• Ensures that group name changes are reflected in the end effectors and robot poses screens as well
• Prevent dirty transforms warning
• Cleaned up stray cout's
• Contributors: Benjamin Chretien, Dave Coleman, Dave Hershberger, Sachin Chitta

0.5.8 (2014-02-06)

• Update move_group.launch Adding get planning scene service to template launch file.
• Fix [#42 <https://github.com/ros-planning/moveit_setup_assistant/issues/42>]{.title-ref} plus cosmetic param name change.
• Contributors: Acorn, Dave Hershberger, sachinchitta

0.5.7 (2014-01-03)

• Added back-link to tutorial and updated moveit website URL.
• Ported tutorial from wiki to sphinx in source repo.

0.5.6 (2013-12-31)

• Fix compilation on OS X 10.9 (clang)
• Contributors: Nikolaus Demmel, isucan

0.5.5 (2013-12-03)

• fix #64.
• Added Travis Continuous Integration

0.5.4 (2013-10-11)

• Added optional params so user knows they exist - values remain same

0.5.3 (2013-09-23)

• enable publishing more information for demo.launch
• Added 2 deps needed for some of the launch files generated by the setup assistant
• add source param for joint_state_publisher
• Added default octomap_resolution to prevent warning when move_group starts. Added comments.
• generate config files for fake controllers
• port to new robot state API

0.5.2 (2013-08-16)

• fix #50
• fix #52

0.5.1 (2013-08-13)

• make headers and author definitions aligned the same way; white space fixes
• add debug flag to demo.launch template
• default scene alpha is now 1.0
• add robot_state_publisher dependency for generated pkgs
• disable mongodb creation by default in demo.launch
• add dependency on joint_state_publisher for generated config pkgs

0.5.0 (2013-07-15)

• white space fixes (tabs are now spaces)
• fix #49

0.4.1 (2013-06-26)

• fix #44
• detect when xacro needs to be run and generate planning_context.launch accordingly
• fix #46
• refactor how planners are added to ompl_planning.yaml; include PRM & PRMstar, remove LazyRRT
• change defaults per #47
• SRDFWriter: add initModel() method for initializing from an existing urdf/srdf model in memory.
• SRDFWriter: add INCLUDE_DIRS to catkin_package command so srdf_writer.h can be used by other packages.
• git add option for minimum fraction of 'sometimes in collision'
• fix #41