Changelog for package snp_motion_planning

6.0.0 (2025-04-17)

• Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
• Add service for adding scan link to motion planning environment (#163)
• Fix go home freespace planning (#162)
• Planner Profile Update (#161)
  • Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
  • Skip addition of empty links to reduced contact collision pairs
  • Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
  • Added LVS length argument to all custom profile generator functions
  • Removed unnecessary default values in profile generation functions
• Added convex hull decomposition method for scan mesh (#160)
• Upgrades to Tesseract Version 0.29.X. (#158)
• Contributors: Levi Armstrong, Michael Ripperger

5.0.3 (2024-09-09)

5.0.2 (2024-08-16)

5.0.1 (2024-08-16)

5.0.0 (2024-08-15)

• Working build for latest version of tesseract (#115)
  • Working build for latest version of tesseract (fwd declaration)
  • Update plugin status_message fields
  • Fix vel and acc limit checking
  • Update pipelines
  • Clang formatting
  • Switch deps to tagged versions
  • Fix new trajopt plan parameters
  • clang formatting
  • Make cartesian tolerance a ROS parameter
  • Use tolerance override and set to zeros for cartesian cost
  • Check cartesian tolerance vector size
  • Add TrajOpt Cartesian coeff as a ROS param
• Contributors: Tyler Marr

4.7.0 (2024-07-25)

4.6.1 (2024-05-29)

4.6.0 (2024-05-29)

• Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
• Pass joint state as const ref
• Clang formatting
• No longer remove scan link at end of freespace plan, matches process plan
• Make adding mesh optional to motion planning
• Rename process plan callback to be more descriptive
• Ran clang formatting
• Defining manipulator info via server request parameters
• Removed commented lines from planning server
• Fixed typo in planCallback method
• Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
• WIP: planning server fails when freespace motion plan problem is run
• WIP. Update bt node to pass in joint waypoint instead of poly waypoint
• Added freespace motion planning service
• Contributors: David Spielman, Michael Ripperger, Tyler Marr

4.5.0 (2024-05-29)

4.4.1 (2024-05-23)

• Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
• Removed call to remove scan link in planCallback method
• Modified signature of plan method
• Reverted name of raster task name to task name
• Ran clang formatting
• Reorganized planner_server.cpp to simplify motion plan generations
• WIP update organization of planner code
• Contributors: David Spielman, Michael Ripperger

4.4.0 (2024-05-21)

• Merge pull request #107 from marip8/update/rolling-ci Update [tf2_eigen]{.title-ref} includes
• Added workaround for deprecated tf2_eigen header
• Contributors: Michael Ripperger

4.3.0 (2024-05-03)

4.2.0 (2024-04-15)

4.1.1 (2024-03-14)

• Update default empty list args as a workaround for ros2 launch issue
• Contributors: Michael Ripperger

4.1.0 (2024-03-13 18:12)

• Fully support min distance to contact during planning (#88)
  • Changed contact check distance to minimum distance to contact; passed min contact distance to profiles to plan accordingly
  • Added reduced contact distance pair between scan and specifiable links to motion planning profiles
  • Added contact check profile creation to header file
  • Added comments on scan links parameters
  • Rename to ExplicitCollisionPair; added documentation comments; used contact check profile helper function
• Contributors: Michael Ripperger

4.0.0 (2024-03-13 16:00)

• Expose all planning server parameters in launch file (#87)
• Behavior tree application with reactive GUI (#77)
  • Added dependency on BehaviorTree.CPP
  • Added BT utilities
  • Added BT thread class
  • Added initial GUI related BT nodes
  • Copied SequenceWithMemoryNode
  • Renamed SequenceWithMemoryNode class and file; changed namespace
  • Modifications to operation of custom sequence with memory node
  • Added SNP BT service nodes
  • Refactored SNP widget
  • Let behavior tree framework spin node
  • Put SNP panel in namespace
  • Removed robot enable from execution server
  • Added publisher BT nodes
  • Updated UI to have halt button
  • Updated widget to register publisher nodes and add halt button
  • Changed planning service name
  • Added FJT node
  • Updated timeouts
  • Added replace joint start state node
  • Updated names of stacked widget pages
  • Added TPP node widget to GUI
  • Added trajectory preview widget
  • Do not disable stacked widget on task failure
  • Added BT files
  • Create new node for BT operations; pass in Rviz node for other operations
  • Updated SNP widget layout
  • Changed motion planning services to return approach, process, and departure trajectories separately. Updated BT nodes to correspond
  • Use position only joint trajectory controller for simulation
  • Minor updates to widget
  • Removed dependency on YAML
  • Updated application launch files
  • Renamed file to snp_bt_ros_nodes
  • Updated dependencies to include BT ROS2
  • Remove deletion of thread
  • Ran clang format
  • Updated documentation for custom BT nodes
  • Added text editor BT logger
  • Incorporated text edit logger
  • Updated node names and descriptions
  • Added start button and updated behavior of reset button
  • Updated version of BT ROS2
  • Added start state replacement tolerance
  • Updated text edit logger to show same failure message for condition nodes as action nodes
  • Use blackboard entry to transmit error messages from ROS behavior nodes to the logger
  • Updated colcon-action to v6
  • Create node for TPP widget separate from BT node and Rviz node
  • Added condition node for spinning the BT ROS node to keep it alive for parameter updates
  • Removed motion execution server
  • Moved creation of BT factory into start method to allow dynamic changes of ROS params used to register nodes
• Contributors: Michael Ripperger

3.19.0 (2024-01-26)

• Minor Updates (#75)
  • Remove invalid line
  • Revised creation of program to be more readable
  • Updated noether and boost_plugin_loader dependencies
• Merge pull request #71 from DavidSpielman/pr/check_empty_manip_info_params Added checks to alert user if the base frame, motion group and tcp fra…
• Throwing exceptions instead of warnings to the user. Ran clang formatting
• Added checks to alert user if the base frame, motion group or tcp frame parameters are empty prior to creating a manipulator info and program
• Contributors: David Spielman, Michael Ripperger, Tyler Marr

3.18.0 (2024-01-04 17:42)

• Noether Update (#70)
  • Updated dependencies for new noether version
  • Changed dependency on noether_filtering to noether_tpp
  • Updated docker files
  • Updated CI
  • Remove ToolPaths message
  • Updated error statements
  • Updated TPP service name
  • Updated TPP widget to use new configurable TPP pipeline widget
• Contributors: Michael Ripperger

3.17.0 (2024-01-04 09:30)

3.16.0 (2024-01-04 09:21)

• Updated to Tesseract 0.21 (#67)
• Contributors: Michael Ripperger

3.15.0 (2024-01-02)

• Convert tcpSpeedLimiter to Tesseract Plugin Task (#63) * create tcpSpeedLimiter tesseract plugin task bugfix to tcp_speed_limiter_task clean up tcp_speed_limiter task and convert tcp_speed_limiter class to function set tcp_max_speed param as launch arg * update code for clang and cmake formatting update code clang format w/ ubuntu20 clang 10
  • move tcpSpeedLimiter function to header file
• Contributors: Yolnan

3.14.0 (2023-12-08)

3.13.0 (2023-10-24)

• Update to Tesseract 0.20 (#56)
  • Updated motion planning node to be compatible with tesseract 0.20
  • Updated the task composer config file
  • Updated CI config
• Contributors: Michael Ripperger

3.12.0 (2023-10-23)

• Various Updates (#55)
  • Updated OMPL profile
  • Increased TF timeout for ROI selection mesh modifier
  • Make trajopt costs a single value to support motion groups with more than 6 DoF
  • Make motion group, tcp frame, and camera frame dynamic parameters in application
  • Leverage YAML anchors in task composer config
  • Update OMPL tasks
  • Added parameter for OMPL max planning time
• Contributors: Michael Ripperger

3.11.0 (2023-09-28)

• Humble build (#52)
  • Fix templates on declaring parameters
  • Fix runtime errors
  • Update noether for humble build
  • add vtk to rosdep skip
  • Updated dependencies to be by ROS version
  • Change skip key to just 'libvtk'
  • Check ROS version for how params are declared
  • Added ROS version check for tf2_eigen include
  • Added tf2_eigen depends to various packages
  • Added tf2_eigen to planning package CMakeLists
  • Fixed a templated declare param previously missed
  • Clang formatting
  • Clang formatting (pt 2)
  • Cleaner ROS version checking
  • Set C++ version to 17 for [__has_include]{.title-ref} macro
  • Removed #if's from different ROS versions
  • Fix where things built, but didn't work in humble
  • Fix load_yaml difference between foxy and humble+
  • Clang formatting
  • Update snp_blending support to work with humble
• Contributors: Tyler Marr

3.10.0 (2023-09-20)

• Allow selectable representation for collision object (#51)
  • Represent scan mesh as octomap instead of convex hull
  • Changed addition of scan mesh to collision environment to utilize octomap instead of convex hull
  • Updated contact test type in motion planner profiles
  • Make scan mesh collision object type selectable
  • Add and remove scan mesh collision links directly to the environment to leverage visualization capability of monitor
  • Added check on octomap resolution
  • Added a service for manually removing scan link
• Merge pull request #49 from marip8/update/ci Remove unused variable from CI
• Contributors: Michael Ripperger, Tyler Marr

3.9.0 (2023-09-11 10:42)

3.8.0 (2023-09-11 10:16)

• Parameterized task composer config file and task name
• Contributors: Michael Ripperger

3.7.0 (2023-09-11 10:05)

• Add string header
• Removed unused header
• Update to latest tesseract (#22)
  • Updated to tesseract 0.14.0
  • Updated RVIZ to using new Tesseract widgets
  • Clang formatting
  • Removed extra rclcpp Node that was unneeded
  • Set tag to 0.14.0
  • Updated to latest tesseract version
  • Working planner
  • Clang formatting
  • Switched to RRTConnect
  • Updated to be able to use custom pipelines
  • Clang formatting
  • Clean up
  • More clean up
  • Cmake format
  • Removed no longer used task setup variables
  • Removed old commented code
  • Minor cleanup
  • Remove now unneeded custom raster definitions
  • Update tesseract dependencies to right version of planning
  • Clang formatting
  • Running and planning with tesseract 0.16, but trajectory produced is wrong
  • Updated dependencies
  • Updated yaml file for plugins
  • Added saving dotgraph results
  • Updated to successfully build and work, no custom tasks yet
  • Currently working on latest tesseract branches
  • Working with latest tesseract on foxy as of 6-15-2023
  • Clang formatting
  • cmake formating
  • Fixed issue with constant speed task not storing output
  • Fixed minimum length for jerk smoothing
  • Rearranged kinematic limit check to be last
  • Added kin limit check to freespace and transition motions
  • Reverted a debugging message in constant tcp speed task
  • Deleted unused taskflow generators file
  • Remove unused things
  • Updated dependencies
  • Get rid of commented out linking
  • Added contact check profile with parameters, defaults to original default
  • Switched IK to KDL for now as that works
  • Updated to 0.18.3 tesseract planning
  • Switched to abort tasks instead of errors
  • Fixed planning server to respect scanned collision mesh
  • Updated base docker image to tesseract_ros2
  • Reset BEFORE_INIT because it was invalid from tesseract_ros2 docker
  • Added taskflow to dependencies
  • Updated workspace underlay and added humble and rolling builds
  • Fix ros distro docker name
  • Reset an environment variable used by tesseract_ros2 docker
  • Updated so tesseract doesn't publish tf
  • Updated to version of tesseract_qt that doesn't need qt_advanced_docking
• Contributors: Michael Ripperger, Tyler Marr

3.6.0 (2023-07-14)

3.5.0 (2023-06-05 17:23)

• Constant TCP velocity time parameterization (#28)
  • Initial draft of constant velocity time parameterization
  • Added cartesian time param task flow generator
  • Comment out explicit use of Cartesian time parameterization
  • Changed creation of path
  • Updated acceleration calculation
  • Added rotational velocity parameters
  • Updated cartesian time param task name
  • Updated cartesian time parameterization
  • Added profile for Cartesian time parameterization
  • Added cartesian time parameterization profile to planning server
  • Ran cmake format
  • Updated class and file naming
  • Optionally check joint accelerations against limits
  • Dynamically load planning-related ROS parameters
  • Clamp velocity/acceleration scales on (0.0, 1.0]
  • Added task generator for kinematic limits check
  • Removed kinematic limits check from constant TCP time parameterization; added kinematic limits check task to raster taskflow; added kinematic limits profile to planning server
• Ensure mesh is convexified before adding to environment (#29)
• Contributors: Michael Ripperger

3.4.0 (2023-06-05 13:16)

3.3.0 (2023-05-18)

• Integration - 5/17 (#25)
  • Separated simulated robot enable from simulated motion execution
  • Moved open3d mesh publisher to simulation node
  • Make motion execution node listen to full joint states topic
  • Updated Rviz config
  • Use Trajopt for raster process planner
• Integration Changes - 5.10.2023 (#24)
  • Added updated scan trajectory around the work table
  • Added TPP yaml file
  • Parameterized TSDF values
  • Updated TSDF parameters in launch files for blending and automate demo
  • Added calibration files
  • Fixed table calibration
  • Updated camera calibration
  • Updated pointcloud parameter names to the latest realsense nomenclature
  • Updated scan trajectory
  • Updated tpp configuration
  • Updated Pushcorp URDF and TCP location

  * Show output from motion planner node on screen ---------Co-authored-by: Chris Lewis <<drchrislewis@gmail.com>>

• Contributors: Michael Ripperger

3.2.0 (2023-05-10)

3.1.0 (2023-05-09)

3.0.0 (2022-09-01)

• Reorganize application-specific files (#13)
  • Combined support and bringup package into single application implementation package
  • Removed application-specific instructions from README; replace with general description
  • Reverted to update from https://github.com/ros-industrial-consortium/scan_n_plan_workshop/pull/9
  • Set planner verbose by default
  • Changed name of dependencies file
  • Updated documentation
  • Updated documentation per review
• Contributors: Michael Ripperger

2.0.0 (2022-08-10 09:16:43 -0500)

• Automate 2022 Integration (#5)
  • Remove temporary erase of first and last raster
  • Converted application window to widget
  • Update planning functions to not be blocking
  • Add Rviz panel for SNP application
  • Renamed rosconwindow to snp_widget
  • Changed launch files to use rviz panel version of application
  • Added ROI selection mesh modifier and widget
  • Added noether plugin for ROI mesh modifier
  • Add TPP widget
  • Added TPP app
  • Updated launch file to start TPP app instead of node
  • Updated Rviz config
  • Remove TPP parameter from service definition; added string for mesh frame to TPP service defintion; updated existing TPP nodes
  • Transform selection into mesh frame
  • Changed namespace from snp to snp_tpp
  • Created unique names for transition commands
  • Async callback for motion execution
  • fixup tpp widget header
  • Faster scan traj
  • Automate setup camera calibration
  • Updated LVS to ensure at least 5 wps
  • Updated the rviz config file
  • Added collision geometry for TCP
  • Updated dependencies and README
  • Updated TPP to use latest version of noether_gui
  • Ran CMake format
  • Ran clang format
  • Replaced references to open3d_interface
  • Updated .repos files
  • Added xmlrpcpp dependency for CI
• Merge branch 'integration_devel_5-19' into 'master' Integration 5/20 See merge request swri/ros-i/rosworld2021/roscon2021!61
• CLANG
• Updated taskflow to enforce a minimum number of waypoints for transitions and freespace
• Updated to planning profiles
• Switched to global descartes first
• WIP: testing tool speed control
• Merge branch 'feature/collision-check-against-scan' into 'master' Add scan to motion planning environment See merge request swri/ros-i/rosworld2021/roscon2021!56
• Add touch link parameters to launch files
• Revised addition of scan to environment
• Motion Planning: Adding scan to collision environment
• Merge branch 'update/launch-files' into 'master' Simplify loading of URDF/SRDF in XML launch files See merge request swri/ros-i/rosworld2021/roscon2021!52
• Simplify loading of URDF/SRDF in XML launch files
• Merge branch 'update/launch-files' into 'master' Convert launch files from Python to XML See merge request swri/ros-i/rosworld2021/roscon2021!49
• Merge branch 'feature/ikfast' into 'master' Added tesseract IKFast plugin See merge request swri/ros-i/rosworld2021/roscon2021!51
• Clang-format
• Update to 0.7.4 version of IKFast constructor; add code for extracting redundancy capable joints
• Parameterize number of joints for IKFast
• Added tesseract IKFast plugin for HC10
• Merge branch 'update/environment-monitor' into 'master' Environment monitor Update See merge request swri/ros-i/rosworld2021/roscon2021!48
• Changed python launch files to xml
• Initialize plotter after environment is initialized
• Start state monitor to sync environment with current robot state
• Merge branch 'feature/tcp-velocity-limiter' into 'master' Added function for limiting tcp velocity by scaling timestamps and velcoties/accelerations See merge request swri/ros-i/rosworld2021/roscon2021!45
• Addressed PR review
• clang formatting
• Added tesseract monitor and trajectory preview
• Fix clang formatting
• added function for limiting tcp velocity by scaling timestamps and velcoties/accelerations
• Merge branch 'update/clang-format' into 'master' Clang-format Update See merge request swri/ros-i/rosworld2021/roscon2021!46
• Update for clang-formatting
• Merge branch 'update/motion-planning' into 'master' Planning Server See merge request swri/ros-i/rosworld2021/roscon2021!40
• Remove using namespace
• Use reference for string
• fixup tool z free sample
• Clang-format
• Updated trajectory start state
• Added flag for verbose output; added log messages in planning server
• Rotated tool poses 180 degrees about x-axis
• Added additional profiles
• Added input and seed checks to custom taskflows
• Updated Descartes and TrajOpt profiles to have tool z free
• Added launch file for planning server
• Initial implementation of motion planning server
• Merge branch 'fix/app-service-calls' into 'master' Fix service calls in application See merge request swri/ros-i/rosworld2021/roscon2021!42
• Updated motion planning service name
• Merge branch 'update/move-planning-code' into 'master' Move planning function out of GUI See merge request swri/ros-i/rosworld2021/roscon2021!27
• Moved planning code from GUI to planning server
• Merge branch 'feature/motion-planning-node' into 'master' Added planning server node shell See merge request swri/ros-i/rosworld2021/roscon2021!25
• Use node-specific logger
• Used variable for ROS2 dependencies
• Added planning server node shell
• Contributors: David Merz, Jr, Michael Ripperger, Tyler Marr, ben, dmerz, mripperger, tmarr

1.0.0 (2021-10-19 16:56:56 +0000)