From 79a2fa5c71763f1379aa2b0db436ea599b7fa12a Mon Sep 17 00:00:00 2001 From: Anthony Baker Date: Mon, 15 May 2023 10:32:20 -0600 Subject: [PATCH 1/7] Parse xacro args from .setup_assistant config in MoveIt Configs Builder (#2172) Co-authored-by: Jafar --- .../moveit_configs_utils/moveit_configs_builder.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py index 9c3636fb34..41e154c25a 100644 --- a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py +++ b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py @@ -162,6 +162,7 @@ def __init__( self.__urdf_package = None self.__urdf_file_path = None + self.__urdf_xacro_args = None self.__srdf_file_path = None modified_urdf_path = Path("config") / (self.__robot_name + ".urdf.xacro") @@ -179,6 +180,11 @@ def __init__( ) self.__urdf_file_path = Path(urdf_config["relative_path"]) + if (xacro_args := urdf_config.get("xacro_args")) is not None: + self.__urdf_xacro_args = dict( + arg.split(":=") for arg in xacro_args.split(" ") if arg + ) + srdf_config = config.get("srdf", config.get("SRDF")) if srdf_config: self.__srdf_file_path = Path(srdf_config["relative_path"]) @@ -224,7 +230,8 @@ def robot_description( try: self.__moveit_configs.robot_description = { self.__robot_description: load_xacro( - robot_description_file_path, mappings=mappings + robot_description_file_path, + mappings=mappings or self.__urdf_xacro_args, ) } except ParameterBuilderFileNotFoundError as e: From 75a7d001b4319aa0beb1a311e970f00979c109dc Mon Sep 17 00:00:00 2001 From: V Mohammed Ibrahim <12377945+ibrahiminfinite@users.noreply.github.com> Date: Tue, 16 May 2023 20:55:12 +0530 Subject: [PATCH 2/7] [Servo] Remove soon-to-be obsolete functions (#2175) * Remove unused functions * Remove drift and control dimension client in tests * Remove gazebo specific message redundancy --- .../config/panda_simulated_config.yaml | 1 - .../panda_simulated_config_pose_tracking.yaml | 1 - .../include/moveit_servo/servo_calcs.h | 57 --------- moveit_ros/moveit_servo/src/servo_calcs.cpp | 118 ------------------ .../moveit_servo/src/servo_parameters.yaml | 6 - .../test/config/servo_settings.yaml | 1 - .../test/servo_launch_test_common.hpp | 38 ------ 7 files changed, 222 deletions(-) diff --git a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml index dc3f319245..e65036135a 100644 --- a/moveit_ros/moveit_servo/config/panda_simulated_config.yaml +++ b/moveit_ros/moveit_servo/config/panda_simulated_config.yaml @@ -1,7 +1,6 @@ ############################################### # Modify all parameters related to servoing here ############################################### -use_gazebo: false # Whether the robot is started in a Gazebo simulation environment ## Properties of incoming commands command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s diff --git a/moveit_ros/moveit_servo/config/panda_simulated_config_pose_tracking.yaml b/moveit_ros/moveit_servo/config/panda_simulated_config_pose_tracking.yaml index 902ec2db13..d0ee8d6b40 100644 --- a/moveit_ros/moveit_servo/config/panda_simulated_config_pose_tracking.yaml +++ b/moveit_ros/moveit_servo/config/panda_simulated_config_pose_tracking.yaml @@ -1,7 +1,6 @@ ############################################### # Modify all parameters related to servoing here ############################################### -use_gazebo: false # Whether the robot is started in a Gazebo simulation environment ## Properties of incoming commands command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h index 5ff2c5bfd3..60a7c477f7 100644 --- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h +++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h @@ -49,8 +49,6 @@ #include #include #include -#include -#include #include #include #include @@ -193,56 +191,11 @@ class ServoCalcs bool internalServoUpdate(Eigen::ArrayXd& delta_theta, trajectory_msgs::msg::JointTrajectory& joint_trajectory, const ServoType servo_type); - /** \brief Gazebo simulations have very strict message timestamp requirements. - * Satisfy Gazebo by stuffing multiple messages into one. - */ - void insertRedundantPointsIntoTrajectory(trajectory_msgs::msg::JointTrajectory& joint_trajectory, int count) const; - - /** - * Remove the Jacobian row and the delta-x element of one Cartesian dimension, to take advantage of task redundancy - * - * @param matrix The Jacobian matrix. - * @param delta_x Vector of Cartesian delta commands, should be the same size as matrix.rows() - * @param row_to_remove Dimension that will be allowed to drift, e.g. row_to_remove = 2 allows z-translation drift. - */ - void removeDimension(Eigen::MatrixXd& matrix, Eigen::VectorXd& delta_x, unsigned int row_to_remove) const; - - /** - * Removes all of the drift dimensions from the jacobian and delta-x element - * - * @param matrix The Jacobian matrix. - * @param delta_x Vector of Cartesian delta commands, should be the same size as matrix.rows() - */ - void removeDriftDimensions(Eigen::MatrixXd& matrix, Eigen::VectorXd& delta_x); - - /** - * Uses control_dimensions_ to set the incoming twist command values to 0 in uncontrolled directions - * - * @param command TwistStamped msg being used in the Cartesian calcs process - */ - void enforceControlDimensions(geometry_msgs::msg::TwistStamped& command); - /* \brief Command callbacks */ void twistStampedCB(const geometry_msgs::msg::TwistStamped::ConstSharedPtr& msg); void jointCmdCB(const control_msgs::msg::JointJog::ConstSharedPtr& msg); void collisionVelocityScaleCB(const std_msgs::msg::Float64::ConstSharedPtr& msg); - /** - * Allow drift in certain dimensions. For example, may allow the wrist to rotate freely. - * This can help avoid singularities. - * - * @param request the service request - * @param response the service response - * @return true if the adjustment was made - */ - void changeDriftDimensions(const std::shared_ptr& req, - const std::shared_ptr& res); - - /** \brief Start the main calculation timer */ - // Service callback for changing servoing dimensions - void changeControlDimensions(const std::shared_ptr& req, - const std::shared_ptr& res); - // Pointer to the ROS node std::shared_ptr node_; @@ -288,8 +241,6 @@ class ServoCalcs rclcpp::Publisher::SharedPtr status_pub_; rclcpp::Publisher::SharedPtr trajectory_outgoing_cmd_pub_; rclcpp::Publisher::SharedPtr multiarray_outgoing_cmd_pub_; - rclcpp::Service::SharedPtr control_dimensions_server_; - rclcpp::Service::SharedPtr drift_dimensions_server_; // Main tracking / result publisher loop std::thread thread_; @@ -304,16 +255,8 @@ class ServoCalcs // Use ArrayXd type to enable more coefficient-wise operations Eigen::ArrayXd delta_theta_; - const int gazebo_redundant_message_count_ = 30; - unsigned int num_joints_; - // True -> allow drift in this dimension. In the command frame. [x, y, z, roll, pitch, yaw] - std::array drift_dimensions_ = { { false, false, false, false, false, false } }; - - // The dimensions to control. In the command frame. [x, y, z, roll, pitch, yaw] - std::array control_dimensions_ = { { true, true, true, true, true, true } }; - // main_loop_mutex_ is used to protect the input state and dynamic parameters mutable std::mutex main_loop_mutex_; Eigen::Isometry3d tf_moveit_to_robot_cmd_frame_; diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp index 58cbbfe0cd..be284ea907 100644 --- a/moveit_ros/moveit_servo/src/servo_calcs.cpp +++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp @@ -101,22 +101,6 @@ ServoCalcs::ServoCalcs(const rclcpp::Node::SharedPtr& node, servo_params_.joint_command_in_topic, rclcpp::SystemDefaultsQoS(), [this](const control_msgs::msg::JointJog::ConstSharedPtr& msg) { return jointCmdCB(msg); }); - // ROS Server for allowing drift in some dimensions - drift_dimensions_server_ = node_->create_service( - "~/change_drift_dimensions", - [this](const std::shared_ptr& req, - const std::shared_ptr& res) { - return changeDriftDimensions(req, res); - }); - - // ROS Server for changing the control dimensions - control_dimensions_server_ = node_->create_service( - "~/change_control_dimensions", - [this](const std::shared_ptr& req, - const std::shared_ptr& res) { - return changeControlDimensions(req, res); - }); - // Subscribe to the collision_check topic collision_velocity_scale_sub_ = node_->create_subscription( "~/collision_velocity_scale", rclcpp::SystemDefaultsQoS(), @@ -520,9 +504,6 @@ bool ServoCalcs::cartesianServoCalcs(geometry_msgs::msg::TwistStamped& cmd, if (!checkValidCommand(cmd)) return false; - // Set uncontrolled dimensions to 0 in command frame - enforceControlDimensions(cmd); - // Transform the command to the MoveGroup planning frame if (cmd.header.frame_id != servo_params_.planning_frame) { @@ -533,8 +514,6 @@ bool ServoCalcs::cartesianServoCalcs(geometry_msgs::msg::TwistStamped& cmd, Eigen::MatrixXd jacobian = current_state_->getJacobian(joint_model_group_); - removeDriftDimensions(jacobian, delta_x); - Eigen::JacobiSVD svd = Eigen::JacobiSVD(jacobian, Eigen::ComputeThinU | Eigen::ComputeThinV); Eigen::MatrixXd matrix_s = svd.singularValues().asDiagonal(); @@ -657,34 +636,10 @@ bool ServoCalcs::internalServoUpdate(Eigen::ArrayXd& delta_theta, // compose outgoing message composeJointTrajMessage(next_joint_state_, joint_trajectory); - // Modify the output message if we are using gazebo - if (servo_params_.use_gazebo) - { - insertRedundantPointsIntoTrajectory(joint_trajectory, gazebo_redundant_message_count_); - } - previous_joint_state_ = current_joint_state_; return true; } -// Spam several redundant points into the trajectory. The first few may be skipped if the -// time stamp is in the past when it reaches the client. Needed for gazebo simulation. -// Start from 1 because the first point's timestamp is already 1*servo_parameters_.publish_period -void ServoCalcs::insertRedundantPointsIntoTrajectory(trajectory_msgs::msg::JointTrajectory& joint_trajectory, - int count) const -{ - if (count < 2) - return; - joint_trajectory.points.resize(count); - auto point = joint_trajectory.points[0]; - // Start from 1 because we already have the first point. End at count+1 so (total #) == count - for (int i = 1; i < count; ++i) - { - point.time_from_start = rclcpp::Duration::from_seconds((i + 1) * servo_params_.publish_period); - joint_trajectory.points[i] = point; - } -} - void ServoCalcs::resetLowPassFilters(const sensor_msgs::msg::JointState& joint_state) { smoother_->reset(joint_state.position); @@ -962,54 +917,6 @@ Eigen::VectorXd ServoCalcs::scaleJointCommand(const control_msgs::msg::JointJog& return result; } -void ServoCalcs::removeDimension(Eigen::MatrixXd& jacobian, Eigen::VectorXd& delta_x, unsigned int row_to_remove) const -{ - unsigned int num_rows = jacobian.rows() - 1; - unsigned int num_cols = jacobian.cols(); - - if (row_to_remove < num_rows) - { - jacobian.block(row_to_remove, 0, num_rows - row_to_remove, num_cols) = - jacobian.block(row_to_remove + 1, 0, num_rows - row_to_remove, num_cols); - delta_x.segment(row_to_remove, num_rows - row_to_remove) = - delta_x.segment(row_to_remove + 1, num_rows - row_to_remove); - } - jacobian.conservativeResize(num_rows, num_cols); - delta_x.conservativeResize(num_rows); -} - -void ServoCalcs::removeDriftDimensions(Eigen::MatrixXd& matrix, Eigen::VectorXd& delta_x) -{ - // May allow some dimensions to drift, based on drift_dimensions - // i.e. take advantage of task redundancy. - // Remove the Jacobian rows corresponding to True in the vector drift_dimensions - // Work backwards through the 6-vector so indices don't get out of order - for (auto dimension = matrix.rows() - 1; dimension >= 0; --dimension) - { - if (drift_dimensions_[dimension] && matrix.rows() > 1) - { - removeDimension(matrix, delta_x, dimension); - } - } -} - -void ServoCalcs::enforceControlDimensions(geometry_msgs::msg::TwistStamped& command) -{ - // Can't loop through the message, so check them all - if (!control_dimensions_[0]) - command.twist.linear.x = 0; - if (!control_dimensions_[1]) - command.twist.linear.y = 0; - if (!control_dimensions_[2]) - command.twist.linear.z = 0; - if (!control_dimensions_[3]) - command.twist.angular.x = 0; - if (!control_dimensions_[4]) - command.twist.angular.y = 0; - if (!control_dimensions_[5]) - command.twist.angular.z = 0; -} - bool ServoCalcs::getCommandFrameTransform(Eigen::Isometry3d& transform) { const std::lock_guard lock(main_loop_mutex_); @@ -1087,29 +994,4 @@ void ServoCalcs::collisionVelocityScaleCB(const std_msgs::msg::Float64::ConstSha collision_velocity_scale_ = msg->data; } -void ServoCalcs::changeDriftDimensions(const std::shared_ptr& req, - const std::shared_ptr& res) -{ - drift_dimensions_[0] = req->drift_x_translation; - drift_dimensions_[1] = req->drift_y_translation; - drift_dimensions_[2] = req->drift_z_translation; - drift_dimensions_[3] = req->drift_x_rotation; - drift_dimensions_[4] = req->drift_y_rotation; - drift_dimensions_[5] = req->drift_z_rotation; - - res->success = true; -} - -void ServoCalcs::changeControlDimensions(const std::shared_ptr& req, - const std::shared_ptr& res) -{ - control_dimensions_[0] = req->control_x_translation; - control_dimensions_[1] = req->control_y_translation; - control_dimensions_[2] = req->control_z_translation; - control_dimensions_[3] = req->control_x_rotation; - control_dimensions_[4] = req->control_y_rotation; - control_dimensions_[5] = req->control_z_rotation; - - res->success = true; -} } // namespace moveit_servo diff --git a/moveit_ros/moveit_servo/src/servo_parameters.yaml b/moveit_ros/moveit_servo/src/servo_parameters.yaml index 41c59921e3..57d005cdb7 100644 --- a/moveit_ros/moveit_servo/src/servo_parameters.yaml +++ b/moveit_ros/moveit_servo/src/servo_parameters.yaml @@ -96,12 +96,6 @@ servo: 2. robot_link_command_frame" } - use_gazebo: { - type: bool, - default_value: false, - description: "Whether the robot is started in a Gazebo simulation environment" - } - linear_scale: { type: double, default_value: 0.4, diff --git a/moveit_ros/moveit_servo/test/config/servo_settings.yaml b/moveit_ros/moveit_servo/test/config/servo_settings.yaml index 27f7fbded6..007aa8002f 100644 --- a/moveit_ros/moveit_servo/test/config/servo_settings.yaml +++ b/moveit_ros/moveit_servo/test/config/servo_settings.yaml @@ -1,7 +1,6 @@ ############################################### # Modify all parameters related to servoing here ############################################### -use_gazebo: false # Whether the robot is started in a Gazebo simulation environment ## Properties of incoming commands command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s diff --git a/moveit_ros/moveit_servo/test/servo_launch_test_common.hpp b/moveit_ros/moveit_servo/test/servo_launch_test_common.hpp index 72eeb20d61..86e260def9 100644 --- a/moveit_ros/moveit_servo/test/servo_launch_test_common.hpp +++ b/moveit_ros/moveit_servo/test/servo_launch_test_common.hpp @@ -51,8 +51,6 @@ #include #include #include -#include -#include // Testing #include @@ -162,40 +160,6 @@ class ServoFixture : public ::testing::Test return true; } - bool setupControlDimsClient() - { - client_change_control_dims_ = node_->create_client( - resolveServoTopicName("~/change_control_dimensions")); - while (!client_change_control_dims_->service_is_ready()) - { - if (!rclcpp::ok()) - { - RCLCPP_ERROR(LOGGER, "Interrupted while waiting for the service. Exiting."); - return false; - } - RCLCPP_INFO(LOGGER, "client_change_control_dims_ service not available, waiting again..."); - rclcpp::sleep_for(std::chrono::milliseconds(500)); - } - return true; - } - - bool setupDriftDimsClient() - { - client_change_drift_dims_ = node_->create_client( - resolveServoTopicName("~/change_drift_dimensions")); - while (!client_change_drift_dims_->service_is_ready()) - { - if (!rclcpp::ok()) - { - RCLCPP_ERROR(LOGGER, "Interrupted while waiting for the service. Exiting."); - return false; - } - RCLCPP_INFO(LOGGER, "client_change_drift_dims_ service not available, waiting again..."); - rclcpp::sleep_for(std::chrono::milliseconds(500)); - } - return true; - } - bool setupCollisionScaleSub() { sub_collision_scale_ = node_->create_subscription( @@ -427,8 +391,6 @@ class ServoFixture : public ::testing::Test // Service Clients rclcpp::Client::SharedPtr client_servo_start_; rclcpp::Client::SharedPtr client_servo_stop_; - rclcpp::Client::SharedPtr client_change_control_dims_; - rclcpp::Client::SharedPtr client_change_drift_dims_; // Publishers rclcpp::Publisher::SharedPtr pub_twist_cmd_; From cc1ef618d9c02728bfc58723f15b29ed1efc6aa2 Mon Sep 17 00:00:00 2001 From: Jafar Date: Wed, 17 May 2023 00:56:05 +0100 Subject: [PATCH 3/7] Rename named_target_state_values to get_named_target_state_values (#2181) --- moveit_py/moveit/core/collision_detection.pyi | 1 + moveit_py/moveit/planning.pyi | 3 +-- .../moveit_ros/moveit_cpp/planning_component.cpp | 12 +++++------- 3 files changed, 7 insertions(+), 9 deletions(-) diff --git a/moveit_py/moveit/core/collision_detection.pyi b/moveit_py/moveit/core/collision_detection.pyi index 756716035b..9abf7f45b6 100644 --- a/moveit_py/moveit/core/collision_detection.pyi +++ b/moveit_py/moveit/core/collision_detection.pyi @@ -2,6 +2,7 @@ from typing import Any class AllowedCollisionMatrix: def __init__(self, *args, **kwargs) -> None: ... + def clear(self, *args, **kwargs) -> Any: ... def get_entry(self, *args, **kwargs) -> Any: ... def remove_entry(self, *args, **kwargs) -> Any: ... def set_entry(self, *args, **kwargs) -> Any: ... diff --git a/moveit_py/moveit/planning.pyi b/moveit_py/moveit/planning.pyi index a8415f76c7..45410effd3 100644 --- a/moveit_py/moveit/planning.pyi +++ b/moveit_py/moveit/planning.pyi @@ -34,6 +34,7 @@ class PlanRequestParameters: class PlanningComponent: def __init__(self, *args, **kwargs) -> None: ... + def get_named_target_state_values(self, *args, **kwargs) -> Any: ... def get_start_state(self, *args, **kwargs) -> Any: ... def plan(self, *args, **kwargs) -> Any: ... def set_goal_state(self, *args, **kwargs) -> Any: ... @@ -43,8 +44,6 @@ class PlanningComponent: def set_workspace(self, *args, **kwargs) -> Any: ... def unset_workspace(self, *args, **kwargs) -> Any: ... @property - def named_target_state_values(self) -> Any: ... - @property def named_target_states(self) -> Any: ... @property def planning_group_name(self) -> Any: ... diff --git a/moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp b/moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp index ce8c5fe62b..5d61b6e789 100644 --- a/moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp +++ b/moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp @@ -261,6 +261,11 @@ void init_planning_component(py::module& m) moveit_py_instance (:py:class:`moveit_py.core.MoveItPy`): The MoveItPy instance to use. )") + .def("get_named_target_state_values", &moveit_cpp::PlanningComponent::getNamedTargetStateValues, py::arg("name"), + R"( + dict: The joint values for targets specified by name. + )") + .def_property("planning_group_name", &moveit_cpp::PlanningComponent::getPlanningGroupName, nullptr, R"( str: The name of the planning group to plan for. @@ -271,13 +276,6 @@ void init_planning_component(py::module& m) list of str: The names of the named robot states available as targets. )") - // TODO (peterdavidfagan): write test case for this method. - .def_property("named_target_state_values", &moveit_cpp::PlanningComponent::getNamedTargetStateValues, nullptr, - py::return_value_policy::move, - R"( - dict: The joint values for targets specified by name. - )") - // start state methods .def("set_start_state_to_current_state", &moveit_cpp::PlanningComponent::setStartStateToCurrentState, R"( From 9952bdd56a5cde3151941bbf74a93fc450548ce1 Mon Sep 17 00:00:00 2001 From: Tyler Weaver Date: Thu, 18 May 2023 12:05:07 -0600 Subject: [PATCH 4/7] 2.7.4 --- moveit/CHANGELOG.rst | 3 + moveit/package.xml | 2 +- moveit_common/CHANGELOG.rst | 3 + moveit_common/package.xml | 2 +- moveit_configs_utils/CHANGELOG.rst | 7 ++ moveit_configs_utils/package.xml | 2 +- moveit_configs_utils/setup.py | 2 +- moveit_core/CHANGELOG.rst | 27 ++++++ moveit_core/package.xml | 2 +- moveit_kinematics/CHANGELOG.rst | 3 + moveit_kinematics/package.xml | 2 +- .../chomp/chomp_interface/CHANGELOG.rst | 3 + .../chomp/chomp_interface/package.xml | 2 +- .../chomp/chomp_motion_planner/CHANGELOG.rst | 3 + .../chomp/chomp_motion_planner/package.xml | 2 +- .../chomp_optimizer_adapter/CHANGELOG.rst | 3 + .../chomp/chomp_optimizer_adapter/package.xml | 2 +- moveit_planners/moveit_planners/CHANGELOG.rst | 9 ++ moveit_planners/moveit_planners/package.xml | 2 +- moveit_planners/ompl/CHANGELOG.rst | 12 +++ moveit_planners/ompl/package.xml | 2 +- .../CHANGELOG.rst | 3 + .../package.xml | 2 +- .../CHANGELOG.rst | 3 + .../package.xml | 2 +- moveit_planners/stomp/CHANGELOG.rst | 15 ++++ moveit_planners/stomp/package.xml | 2 +- .../CHANGELOG.rst | 3 + .../package.xml | 2 +- .../prbt_moveit_config/CHANGELOG.rst | 3 + .../prbt_moveit_config/package.xml | 2 +- .../prbt_pg70_support/CHANGELOG.rst | 3 + .../prbt_pg70_support/package.xml | 2 +- .../test_configs/prbt_support/CHANGELOG.rst | 3 + .../test_configs/prbt_support/package.xml | 2 +- moveit_plugins/moveit_plugins/CHANGELOG.rst | 3 + moveit_plugins/moveit_plugins/package.xml | 2 +- .../CHANGELOG.rst | 3 + .../moveit_ros_control_interface/package.xml | 2 +- .../CHANGELOG.rst | 3 + .../package.xml | 2 +- moveit_py/CHANGELOG.rst | 7 ++ moveit_py/package.xml | 2 +- moveit_ros/benchmarks/CHANGELOG.rst | 3 + moveit_ros/benchmarks/package.xml | 2 +- moveit_ros/hybrid_planning/CHANGELOG.rst | 3 + moveit_ros/hybrid_planning/package.xml | 2 +- moveit_ros/move_group/CHANGELOG.rst | 7 ++ moveit_ros/move_group/package.xml | 2 +- moveit_ros/moveit_ros/CHANGELOG.rst | 3 + moveit_ros/moveit_ros/package.xml | 2 +- moveit_ros/moveit_servo/CHANGELOG.rst | 86 +++++++++++++++++++ moveit_ros/moveit_servo/package.xml | 2 +- .../occupancy_map_monitor/CHANGELOG.rst | 3 + moveit_ros/occupancy_map_monitor/package.xml | 2 +- moveit_ros/perception/CHANGELOG.rst | 3 + moveit_ros/perception/package.xml | 2 +- moveit_ros/planning/CHANGELOG.rst | 6 ++ moveit_ros/planning/package.xml | 2 +- moveit_ros/planning_interface/CHANGELOG.rst | 5 ++ moveit_ros/planning_interface/package.xml | 2 +- moveit_ros/robot_interaction/CHANGELOG.rst | 3 + moveit_ros/robot_interaction/package.xml | 2 +- moveit_ros/visualization/CHANGELOG.rst | 3 + moveit_ros/visualization/package.xml | 2 +- moveit_ros/warehouse/CHANGELOG.rst | 3 + moveit_ros/warehouse/package.xml | 2 +- moveit_runtime/CHANGELOG.rst | 3 + moveit_runtime/package.xml | 2 +- .../moveit_setup_app_plugins/CHANGELOG.rst | 3 + .../moveit_setup_app_plugins/package.xml | 2 +- .../moveit_setup_assistant/CHANGELOG.rst | 3 + .../moveit_setup_assistant/package.xml | 2 +- .../moveit_setup_controllers/CHANGELOG.rst | 3 + .../moveit_setup_controllers/package.xml | 2 +- .../moveit_setup_core_plugins/CHANGELOG.rst | 3 + .../moveit_setup_core_plugins/package.xml | 2 +- .../moveit_setup_framework/CHANGELOG.rst | 3 + .../moveit_setup_framework/package.xml | 2 +- .../moveit_setup_srdf_plugins/CHANGELOG.rst | 3 + .../moveit_setup_srdf_plugins/package.xml | 2 +- 81 files changed, 312 insertions(+), 41 deletions(-) create mode 100644 moveit_planners/stomp/CHANGELOG.rst diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst index f0d55b97f1..2958875f19 100644 --- a/moveit/CHANGELOG.rst +++ b/moveit/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit/package.xml b/moveit/package.xml index b2c2f516db..3fadb67820 100644 --- a/moveit/package.xml +++ b/moveit/package.xml @@ -2,7 +2,7 @@ moveit - 2.7.3 + 2.7.4 Meta package that contains all essential packages of MoveIt 2 Henning Kayser Tyler Weaver diff --git a/moveit_common/CHANGELOG.rst b/moveit_common/CHANGELOG.rst index 83ac71ee15..4ee4dae7da 100644 --- a/moveit_common/CHANGELOG.rst +++ b/moveit_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (`#2135 `_) diff --git a/moveit_common/package.xml b/moveit_common/package.xml index c98544b732..5379c26aa8 100644 --- a/moveit_common/package.xml +++ b/moveit_common/package.xml @@ -2,7 +2,7 @@ moveit_common - 2.7.3 + 2.7.4 Common support functionality used throughout MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_configs_utils/CHANGELOG.rst b/moveit_configs_utils/CHANGELOG.rst index 089c59f07f..152a1f7745 100644 --- a/moveit_configs_utils/CHANGELOG.rst +++ b/moveit_configs_utils/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package moveit_configs_utils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ +* Parse xacro args from .setup_assistant config in MoveIt Configs Builder (`#2172 `_) + Co-authored-by: Jafar +* Update default planning configs to use AddTimeOptimalParameterization (`#2167 `_) +* Contributors: Anthony Baker + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit_configs_utils/package.xml b/moveit_configs_utils/package.xml index 9a89c99820..6a29b05f5c 100644 --- a/moveit_configs_utils/package.xml +++ b/moveit_configs_utils/package.xml @@ -2,7 +2,7 @@ moveit_configs_utils - 2.7.3 + 2.7.4 Python library for loading moveit config parameters in launch files MoveIt Release Team BSD-3-Clause diff --git a/moveit_configs_utils/setup.py b/moveit_configs_utils/setup.py index d5f2929161..03406fa217 100644 --- a/moveit_configs_utils/setup.py +++ b/moveit_configs_utils/setup.py @@ -5,7 +5,7 @@ setup( name=package_name, - version="2.7.3", + version="2.7.4", packages=find_packages(), data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/moveit_core/CHANGELOG.rst b/moveit_core/CHANGELOG.rst index bc385f2d74..5d1576f473 100644 --- a/moveit_core/CHANGELOG.rst +++ b/moveit_core/CHANGELOG.rst @@ -2,6 +2,33 @@ Changelog for package moveit_core ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ +* Add documentation and cleanups for PlanningRequestAdapter and PlanningRequestAdapterChain classes (`#2142 `_) + * Cleanups + * Add documentation and more cleanups + * Revert size_t change +* Fix collision checking in VisibilityConstraint (`#1986 `_) +* Alphabetize, smart pointer not needed (`#2148 `_) + * Alphabetize, smart pointer not needed + * Readability +* Fix getting variable bounds in mimic joints for TOTG (`#2030 `_) + * Fix getting variable bounds in mimic joints for TOTG + * Formatting + * Remove unnecessary code + * Do not include mimic joints in timing calculations + * Change joint variable bounds at mimic creation time + * Braces take you places + * Fix other single-line if-else without braces in file for clang_tidy + * Remove mimic bounds modification + * Variable renaming and a comment + * Fix index naming + --------- + Co-authored-by: Sebastian Jahr + Co-authored-by: Jafar + Co-authored-by: AndyZe +* Contributors: AndyZe, Joseph Schornak, Sebastian Castro, Sebastian Jahr + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit_core/package.xml b/moveit_core/package.xml index 2170309000..ca0fe4cb45 100644 --- a/moveit_core/package.xml +++ b/moveit_core/package.xml @@ -2,7 +2,7 @@ moveit_core - 2.7.3 + 2.7.4 Core libraries used by MoveIt Henning Kayser diff --git a/moveit_kinematics/CHANGELOG.rst b/moveit_kinematics/CHANGELOG.rst index 9bc71d8a2f..afe54a010c 100644 --- a/moveit_kinematics/CHANGELOG.rst +++ b/moveit_kinematics/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_kinematics ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml index 80136ed4a9..374c031ce9 100644 --- a/moveit_kinematics/package.xml +++ b/moveit_kinematics/package.xml @@ -2,7 +2,7 @@ moveit_kinematics - 2.7.3 + 2.7.4 Package for all inverse kinematics solvers in MoveIt Henning Kayser diff --git a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst index cdd0d796bd..5bd49ff83d 100644 --- a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst +++ b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package chomp_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/chomp/chomp_interface/package.xml b/moveit_planners/chomp/chomp_interface/package.xml index e0863420df..24d0f8d3e9 100644 --- a/moveit_planners/chomp/chomp_interface/package.xml +++ b/moveit_planners/chomp/chomp_interface/package.xml @@ -2,7 +2,7 @@ moveit_planners_chomp - 2.7.3 + 2.7.4 The interface for using CHOMP within MoveIt Chittaranjan Srinivas Swaminathan diff --git a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst index f68a6f4f2b..c1abfe81f3 100644 --- a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst +++ b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package chomp_motion_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/chomp/chomp_motion_planner/package.xml b/moveit_planners/chomp/chomp_motion_planner/package.xml index d6edf7066c..b28f3ad5df 100644 --- a/moveit_planners/chomp/chomp_motion_planner/package.xml +++ b/moveit_planners/chomp/chomp_motion_planner/package.xml @@ -2,7 +2,7 @@ chomp_motion_planner - 2.7.3 + 2.7.4 chomp_motion_planner Chittaranjan Srinivas Swaminathan diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst b/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst index 834cc4d786..2de5dd9dfc 100644 --- a/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst +++ b/moveit_planners/chomp/chomp_optimizer_adapter/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_chomp_optimizer_adapter ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml index 850b021d60..0f6ef1309e 100644 --- a/moveit_planners/chomp/chomp_optimizer_adapter/package.xml +++ b/moveit_planners/chomp/chomp_optimizer_adapter/package.xml @@ -2,7 +2,7 @@ moveit_chomp_optimizer_adapter MoveIt planning request adapter utilizing chomp for solution optimization - 2.7.3 + 2.7.4 Raghavender Sahdev MoveIt Release Team diff --git a/moveit_planners/moveit_planners/CHANGELOG.rst b/moveit_planners/moveit_planners/CHANGELOG.rst index b7e46a3bf3..e806e3daa6 100644 --- a/moveit_planners/moveit_planners/CHANGELOG.rst +++ b/moveit_planners/moveit_planners/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package moveit_planners ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ +* Migrate STOMP from ros-planning/stomp_moveit (`#2158 `_) +* Migrate stomp_moveit into moveit_planners + * Move package into moveit_planners subdirectory + * Rename stomp_moveit package to moveit_planners_stomp + * List moveit_planners_stomp as package dependency +* Contributors: Henning Kayser + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml index 06ea55881d..2755e0b5e9 100644 --- a/moveit_planners/moveit_planners/package.xml +++ b/moveit_planners/moveit_planners/package.xml @@ -2,7 +2,7 @@ moveit_planners - 2.7.3 + 2.7.4 Meta package that installs all available planners for MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_planners/ompl/CHANGELOG.rst b/moveit_planners/ompl/CHANGELOG.rst index 54610ca6bd..213d08c3d0 100644 --- a/moveit_planners/ompl/CHANGELOG.rst +++ b/moveit_planners/ompl/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package moveit_planners_ompl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ +* Fix Constraint Planning Segfault (`#2130 `_) + * Fix Constraint Planning Segfault + * Reuse planner data + * apply clang formatting + * apply clang formatting round 2 + * add FIXME note and verbose output of planning graph size + --------- + Co-authored-by: Sebastian Jahr +* Contributors: Marq Rasmussen + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml index a6ea91ab47..47064b59e0 100644 --- a/moveit_planners/ompl/package.xml +++ b/moveit_planners/ompl/package.xml @@ -2,7 +2,7 @@ moveit_planners_ompl - 2.7.3 + 2.7.4 MoveIt interface to OMPL Henning Kayser Tyler Weaver diff --git a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst index 2e476cc1a6..a0b537c9f3 100644 --- a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst +++ b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package pilz_industrial_motion_planner ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml index a7f783c2e2..4f437c6abd 100644 --- a/moveit_planners/pilz_industrial_motion_planner/package.xml +++ b/moveit_planners/pilz_industrial_motion_planner/package.xml @@ -2,7 +2,7 @@ pilz_industrial_motion_planner - 2.7.3 + 2.7.4 MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof. Christian Henkel diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst index 6144627ce1..2be30c4c36 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package pilz_industrial_motion_planner_testutils ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml index bdb26c09c5..180c4c881f 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml @@ -2,7 +2,7 @@ pilz_industrial_motion_planner_testutils - 2.7.3 + 2.7.4 Helper scripts and functionality to test industrial motion generation Christian Henkel diff --git a/moveit_planners/stomp/CHANGELOG.rst b/moveit_planners/stomp/CHANGELOG.rst new file mode 100644 index 0000000000..aeffaa5467 --- /dev/null +++ b/moveit_planners/stomp/CHANGELOG.rst @@ -0,0 +1,15 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_planners_stomp +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.7.4 (2023-05-18) +------------------ +* Migrate STOMP from ros-planning/stomp_moveit (`#2158 `_) +* Fix clang-tidy warnings +* Improve Documentation and Readability +* Remove MVT example +* Migrate stomp_moveit into moveit_planners + * Move package into moveit_planners subdirectory + * Rename stomp_moveit package to moveit_planners_stomp + * List moveit_planners_stomp as package dependency +* Contributors: Henning Kayser diff --git a/moveit_planners/stomp/package.xml b/moveit_planners/stomp/package.xml index 835340878c..f289323989 100644 --- a/moveit_planners/stomp/package.xml +++ b/moveit_planners/stomp/package.xml @@ -2,7 +2,7 @@ moveit_planners_stomp - 0.0.1 + 2.7.4 STOMP Motion Planner for MoveIt Henning Kayser BSD-3-Clause diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst index ea0ee31072..41cbc0c786 100644 --- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_resources_prbt_ikfast_manipulator_plugin ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml index 17b0b3d866..77e7866db2 100644 --- a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml +++ b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml @@ -1,7 +1,7 @@ moveit_resources_prbt_ikfast_manipulator_plugin - 2.7.3 + 2.7.4 The prbt_ikfast_manipulator_plugin package Alexander Gutenkunst Christian Henkel diff --git a/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst b/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst index 0e529e499c..ffa8c84211 100644 --- a/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_resources_prbt_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/test_configs/prbt_moveit_config/package.xml b/moveit_planners/test_configs/prbt_moveit_config/package.xml index 61711e6957..603b37635a 100644 --- a/moveit_planners/test_configs/prbt_moveit_config/package.xml +++ b/moveit_planners/test_configs/prbt_moveit_config/package.xml @@ -1,6 +1,6 @@ moveit_resources_prbt_moveit_config - 2.7.3 + 2.7.4

MoveIt Resources for testing: Pilz PRBT 6 diff --git a/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst b/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst index 4a0b84b7d4..27820f9d30 100644 --- a/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_resources_prbt_pg70_support ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/test_configs/prbt_pg70_support/package.xml b/moveit_planners/test_configs/prbt_pg70_support/package.xml index 897241b435..efee049dc3 100644 --- a/moveit_planners/test_configs/prbt_pg70_support/package.xml +++ b/moveit_planners/test_configs/prbt_pg70_support/package.xml @@ -1,7 +1,7 @@ moveit_resources_prbt_pg70_support - 2.7.3 + 2.7.4 PRBT support for Schunk pg70 gripper. Alexander Gutenkunst diff --git a/moveit_planners/test_configs/prbt_support/CHANGELOG.rst b/moveit_planners/test_configs/prbt_support/CHANGELOG.rst index 23598aa64b..bd116fd585 100644 --- a/moveit_planners/test_configs/prbt_support/CHANGELOG.rst +++ b/moveit_planners/test_configs/prbt_support/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package prbt_support ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_planners/test_configs/prbt_support/package.xml b/moveit_planners/test_configs/prbt_support/package.xml index 61a09441b4..2a037921b6 100644 --- a/moveit_planners/test_configs/prbt_support/package.xml +++ b/moveit_planners/test_configs/prbt_support/package.xml @@ -1,6 +1,6 @@ moveit_resources_prbt_support - 2.7.3 + 2.7.4 Mechanical, kinematic and visual description of the Pilz light weight arm PRBT. diff --git a/moveit_plugins/moveit_plugins/CHANGELOG.rst b/moveit_plugins/moveit_plugins/CHANGELOG.rst index 83a4919035..71fd318c16 100644 --- a/moveit_plugins/moveit_plugins/CHANGELOG.rst +++ b/moveit_plugins/moveit_plugins/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit_plugins/moveit_plugins/package.xml b/moveit_plugins/moveit_plugins/package.xml index 25391ef9b2..f80b19645e 100644 --- a/moveit_plugins/moveit_plugins/package.xml +++ b/moveit_plugins/moveit_plugins/package.xml @@ -2,7 +2,7 @@ moveit_plugins - 2.7.3 + 2.7.4 Metapackage for MoveIt plugins. Henning Kayser diff --git a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst index ebb280583c..69adc187ff 100644 --- a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst +++ b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_ros_control_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_plugins/moveit_ros_control_interface/package.xml b/moveit_plugins/moveit_ros_control_interface/package.xml index 245d1e8810..62ab73601b 100644 --- a/moveit_plugins/moveit_ros_control_interface/package.xml +++ b/moveit_plugins/moveit_ros_control_interface/package.xml @@ -2,7 +2,7 @@ moveit_ros_control_interface - 2.7.3 + 2.7.4 ros_control controller manager interface for MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst index 3e32b5c03a..8328d1aef1 100644 --- a/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst +++ b/moveit_plugins/moveit_simple_controller_manager/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_simple_controller_manager ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_plugins/moveit_simple_controller_manager/package.xml b/moveit_plugins/moveit_simple_controller_manager/package.xml index 8574a3adb1..a3611867b0 100644 --- a/moveit_plugins/moveit_simple_controller_manager/package.xml +++ b/moveit_plugins/moveit_simple_controller_manager/package.xml @@ -2,7 +2,7 @@ moveit_simple_controller_manager - 2.7.3 + 2.7.4 A generic, simple controller manager plugin for MoveIt. Michael Görner Henning Kayser diff --git a/moveit_py/CHANGELOG.rst b/moveit_py/CHANGELOG.rst index 01a02bb7c4..468bf28630 100644 --- a/moveit_py/CHANGELOG.rst +++ b/moveit_py/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package moveit_py ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ +* Rename named_target_state_values to get_named_target_state_values (`#2181 `_) +* Deprecate MoveItCpp::execute() use of blocking flag (`#1984 `_) +* Add Python binding for link_model_names and get_only_one_end_effector_tip + update stubs (`#1985 `_) +* Contributors: Jafar, Lucas Wendland + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit_py/package.xml b/moveit_py/package.xml index fc44e8d1e2..62b7c593b3 100644 --- a/moveit_py/package.xml +++ b/moveit_py/package.xml @@ -2,7 +2,7 @@ moveit_py - 2.7.3 + 2.7.4 Python binding for MoveIt 2 Peter David Fagan diff --git a/moveit_ros/benchmarks/CHANGELOG.rst b/moveit_ros/benchmarks/CHANGELOG.rst index c304ff3e0a..cd4a01c576 100644 --- a/moveit_ros/benchmarks/CHANGELOG.rst +++ b/moveit_ros/benchmarks/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_ros_benchmarks ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_ros/benchmarks/package.xml b/moveit_ros/benchmarks/package.xml index 9c12630f7a..f52a5c330b 100644 --- a/moveit_ros/benchmarks/package.xml +++ b/moveit_ros/benchmarks/package.xml @@ -2,7 +2,7 @@ moveit_ros_benchmarks - 2.7.3 + 2.7.4 Enhanced tools for benchmarks in MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_ros/hybrid_planning/CHANGELOG.rst b/moveit_ros/hybrid_planning/CHANGELOG.rst index 09ecfc7dec..410200f735 100644 --- a/moveit_ros/hybrid_planning/CHANGELOG.rst +++ b/moveit_ros/hybrid_planning/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_hybrid_planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (`#2135 `_) diff --git a/moveit_ros/hybrid_planning/package.xml b/moveit_ros/hybrid_planning/package.xml index 3defbdfe26..09105a2231 100644 --- a/moveit_ros/hybrid_planning/package.xml +++ b/moveit_ros/hybrid_planning/package.xml @@ -1,6 +1,6 @@ moveit_hybrid_planning - 2.7.3 + 2.7.4 Hybrid planning components of MoveIt 2 Sebastian Jahr diff --git a/moveit_ros/move_group/CHANGELOG.rst b/moveit_ros/move_group/CHANGELOG.rst index 8ac3e34358..c256d04b83 100644 --- a/moveit_ros/move_group/CHANGELOG.rst +++ b/moveit_ros/move_group/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package moveit_ros_move_group ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ +* Fix MoveGroup action cancel callback (`#2118 `_) + Moves the execution callback into its own thread to avoid blocking and actually calls the preempt function in with the cancel callback. +* Scale acceleration and velocity of cartesian interpolations (`#1968 `_) +* Contributors: Jonathan Grebe, Yadu + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_ros/move_group/package.xml b/moveit_ros/move_group/package.xml index e5d4afe1f6..8b3f4e73a9 100644 --- a/moveit_ros/move_group/package.xml +++ b/moveit_ros/move_group/package.xml @@ -2,7 +2,7 @@ moveit_ros_move_group - 2.7.3 + 2.7.4 The move_group node for MoveIt Michael Görner Henning Kayser diff --git a/moveit_ros/moveit_ros/CHANGELOG.rst b/moveit_ros/moveit_ros/CHANGELOG.rst index 88374ac088..5723ee3855 100644 --- a/moveit_ros/moveit_ros/CHANGELOG.rst +++ b/moveit_ros/moveit_ros/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_ros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml index fa3576074d..8019ab6e23 100644 --- a/moveit_ros/moveit_ros/package.xml +++ b/moveit_ros/moveit_ros/package.xml @@ -2,7 +2,7 @@ moveit_ros - 2.7.3 + 2.7.4 Components of MoveIt that use ROS Michael Görner Henning Kayser diff --git a/moveit_ros/moveit_servo/CHANGELOG.rst b/moveit_ros/moveit_servo/CHANGELOG.rst index 641dbe3555..f7696ca5c7 100644 --- a/moveit_ros/moveit_servo/CHANGELOG.rst +++ b/moveit_ros/moveit_servo/CHANGELOG.rst @@ -2,6 +2,92 @@ Changelog for package moveit_servo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +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 +* [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 +* [Servo] Avoid unnecessary checks for initializing `ik_base_to_tip_frame` (`#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 +* 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 `_) diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml index 60462cd686..fa895b0117 100644 --- a/moveit_ros/moveit_servo/package.xml +++ b/moveit_ros/moveit_servo/package.xml @@ -2,7 +2,7 @@ moveit_servo - 2.7.3 + 2.7.4 Provides real-time manipulator Cartesian and joint servoing. Blake Anderson Andy Zelenak diff --git a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst index 0560a69759..2183bc8247 100644 --- a/moveit_ros/occupancy_map_monitor/CHANGELOG.rst +++ b/moveit_ros/occupancy_map_monitor/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_ros_occupancy_map_monitor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (`#2135 `_) diff --git a/moveit_ros/occupancy_map_monitor/package.xml b/moveit_ros/occupancy_map_monitor/package.xml index ed072dfad7..8c0aee6382 100644 --- a/moveit_ros/occupancy_map_monitor/package.xml +++ b/moveit_ros/occupancy_map_monitor/package.xml @@ -2,7 +2,7 @@ moveit_ros_occupancy_map_monitor - 2.7.3 + 2.7.4 Components of MoveIt connecting to occupancy map Henning Kayser Tyler Weaver diff --git a/moveit_ros/perception/CHANGELOG.rst b/moveit_ros/perception/CHANGELOG.rst index 42a05c3b67..178f4d7701 100644 --- a/moveit_ros/perception/CHANGELOG.rst +++ b/moveit_ros/perception/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_ros_perception ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (`#2135 `_) diff --git a/moveit_ros/perception/package.xml b/moveit_ros/perception/package.xml index e8df214050..61e812cde7 100644 --- a/moveit_ros/perception/package.xml +++ b/moveit_ros/perception/package.xml @@ -2,7 +2,7 @@ moveit_ros_perception - 2.7.3 + 2.7.4 Components of MoveIt connecting to perception Henning Kayser Tyler Weaver diff --git a/moveit_ros/planning/CHANGELOG.rst b/moveit_ros/planning/CHANGELOG.rst index 3e42db02ea..4328552f00 100644 --- a/moveit_ros/planning/CHANGELOG.rst +++ b/moveit_ros/planning/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package moveit_ros_planning ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ +* Update default planning configs to use AddTimeOptimalParameterization (`#2167 `_) +* Deprecate MoveItCpp::execute() use of blocking flag (`#1984 `_) +* Contributors: Anthony Baker, Lucas Wendland + 2.7.3 (2023-04-24) ------------------ * Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (`#2135 `_) diff --git a/moveit_ros/planning/package.xml b/moveit_ros/planning/package.xml index 4ad7c7e3cd..37f8ea9b6a 100644 --- a/moveit_ros/planning/package.xml +++ b/moveit_ros/planning/package.xml @@ -2,7 +2,7 @@ moveit_ros_planning - 2.7.3 + 2.7.4 Planning components of MoveIt that use ROS Henning Kayser Tyler Weaver diff --git a/moveit_ros/planning_interface/CHANGELOG.rst b/moveit_ros/planning_interface/CHANGELOG.rst index 27e655e065..bdc4068476 100644 --- a/moveit_ros/planning_interface/CHANGELOG.rst +++ b/moveit_ros/planning_interface/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package moveit_ros_planning_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ +* Scale acceleration and velocity of cartesian interpolations (`#1968 `_) +* Contributors: Yadu + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml index 88c951653e..ce313494b3 100644 --- a/moveit_ros/planning_interface/package.xml +++ b/moveit_ros/planning_interface/package.xml @@ -2,7 +2,7 @@ moveit_ros_planning_interface - 2.7.3 + 2.7.4 Components of MoveIt that offer simpler remote (as from another ROS 2 node) interfaces to planning and execution Henning Kayser Tyler Weaver diff --git a/moveit_ros/robot_interaction/CHANGELOG.rst b/moveit_ros/robot_interaction/CHANGELOG.rst index 91b440087a..1e74618ce4 100644 --- a/moveit_ros/robot_interaction/CHANGELOG.rst +++ b/moveit_ros/robot_interaction/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_ros_robot_interaction ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_ros/robot_interaction/package.xml b/moveit_ros/robot_interaction/package.xml index d5d7a832f0..d5c802d5f6 100644 --- a/moveit_ros/robot_interaction/package.xml +++ b/moveit_ros/robot_interaction/package.xml @@ -2,7 +2,7 @@ moveit_ros_robot_interaction - 2.7.3 + 2.7.4 Components of MoveIt that offer interaction via interactive markers Henning Kayser Tyler Weaver diff --git a/moveit_ros/visualization/CHANGELOG.rst b/moveit_ros/visualization/CHANGELOG.rst index fc602c4ef7..9400297d0e 100644 --- a/moveit_ros/visualization/CHANGELOG.rst +++ b/moveit_ros/visualization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_ros_visualization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml index dab548de1b..9be4d288aa 100644 --- a/moveit_ros/visualization/package.xml +++ b/moveit_ros/visualization/package.xml @@ -2,7 +2,7 @@ moveit_ros_visualization - 2.7.3 + 2.7.4 Components of MoveIt that offer visualization Henning Kayser Tyler Weaver diff --git a/moveit_ros/warehouse/CHANGELOG.rst b/moveit_ros/warehouse/CHANGELOG.rst index 50d3e5de8e..2de123865e 100644 --- a/moveit_ros/warehouse/CHANGELOG.rst +++ b/moveit_ros/warehouse/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_ros_warehouse ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace check for the ROS_DISTRO env variable with a check for the rclcpp version (`#2135 `_) diff --git a/moveit_ros/warehouse/package.xml b/moveit_ros/warehouse/package.xml index 587a85c676..de61235e88 100644 --- a/moveit_ros/warehouse/package.xml +++ b/moveit_ros/warehouse/package.xml @@ -2,7 +2,7 @@ moveit_ros_warehouse - 2.7.3 + 2.7.4 Components of MoveIt connecting to MongoDB Henning Kayser Tyler Weaver diff --git a/moveit_runtime/CHANGELOG.rst b/moveit_runtime/CHANGELOG.rst index 5e82dd7178..4833751092 100644 --- a/moveit_runtime/CHANGELOG.rst +++ b/moveit_runtime/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_runtime ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ diff --git a/moveit_runtime/package.xml b/moveit_runtime/package.xml index 8974ac8111..0ccf50405f 100644 --- a/moveit_runtime/package.xml +++ b/moveit_runtime/package.xml @@ -2,7 +2,7 @@ moveit_runtime - 2.7.3 + 2.7.4 moveit_runtime meta package contains MoveIt packages that are essential for its runtime (e.g. running MoveIt on robots). Henning Kayser Tyler Weaver diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst index 45fa259aa6..4085c7eab6 100644 --- a/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_setup_app_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/package.xml b/moveit_setup_assistant/moveit_setup_app_plugins/package.xml index 8d4cedc00b..2384cebfea 100644 --- a/moveit_setup_assistant/moveit_setup_app_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_app_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_app_plugins - 2.7.3 + 2.7.4 Various specialty plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst index 7418943f06..a4cfd5a0d8 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_setup_assistant ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_setup_assistant/moveit_setup_assistant/package.xml b/moveit_setup_assistant/moveit_setup_assistant/package.xml index 4aebc36a03..fd45ad739e 100644 --- a/moveit_setup_assistant/moveit_setup_assistant/package.xml +++ b/moveit_setup_assistant/moveit_setup_assistant/package.xml @@ -2,7 +2,7 @@ moveit_setup_assistant - 2.7.3 + 2.7.4 Generates a configuration package that makes it easy to use MoveIt Henning Kayser Tyler Weaver diff --git a/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst index cfb7974e4c..7afc6842ee 100644 --- a/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_setup_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_setup_assistant/moveit_setup_controllers/package.xml b/moveit_setup_assistant/moveit_setup_controllers/package.xml index 6284ca7ce5..13c5a29430 100644 --- a/moveit_setup_assistant/moveit_setup_controllers/package.xml +++ b/moveit_setup_assistant/moveit_setup_controllers/package.xml @@ -2,7 +2,7 @@ moveit_setup_controllers - 2.7.3 + 2.7.4 MoveIt Setup Steps for ROS 2 Control David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst index f85f54cc2b..2fd869bc77 100644 --- a/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_setup_core_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/package.xml b/moveit_setup_assistant/moveit_setup_core_plugins/package.xml index e6737f9382..5d684adf84 100644 --- a/moveit_setup_assistant/moveit_setup_core_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_core_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_core_plugins - 2.7.3 + 2.7.4 Core (meta) plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst index 45585f69f4..2b1652f243 100644 --- a/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_setup_framework ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_setup_assistant/moveit_setup_framework/package.xml b/moveit_setup_assistant/moveit_setup_framework/package.xml index 4a32db0495..0ba58ffec5 100644 --- a/moveit_setup_assistant/moveit_setup_framework/package.xml +++ b/moveit_setup_assistant/moveit_setup_framework/package.xml @@ -2,7 +2,7 @@ moveit_setup_framework - 2.7.3 + 2.7.4 C++ Interface for defining setup steps for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst b/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst index 0619c5a5ce..6a915228a7 100644 --- a/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst +++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package moveit_setup_srdf_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.7.4 (2023-05-18) +------------------ + 2.7.3 (2023-04-24) ------------------ * Replace Variable PROJECT_NAME in CMakeLists.txt with the actual name (`#2020 `_) diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml b/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml index f8aa8810a1..bad98555e2 100644 --- a/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml +++ b/moveit_setup_assistant/moveit_setup_srdf_plugins/package.xml @@ -2,7 +2,7 @@ moveit_setup_srdf_plugins - 2.7.3 + 2.7.4 SRDF-based plugins for MoveIt Setup Assistant David V. Lu!! BSD-3-Clause From 895ecac57a109d2a054627012b50e7d2ffcb222a Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Fri, 19 May 2023 10:18:13 +0200 Subject: [PATCH 5/7] Make loggers static or move into anonymous namespace (#2184) * Make loggers static or move into anonymous namespace * Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp * Update moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp * Move LOGGER out of class template --- .../templates/ikfast61_moveit_plugin_template.cpp | 3 ++- .../pilz_industrial_motion_planner_testutils/async_test.h | 2 +- .../kinematics_plugin_loader/src/kinematics_plugin_loader.cpp | 2 +- .../src/fix_start_state_path_constraints.cpp | 2 +- 4 files changed, 5 insertions(+), 4 deletions(-) diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp index 4677131f0f..4066109c33 100644 --- a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp +++ b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp @@ -151,6 +151,8 @@ struct LimitObeyingSol // Code generated by IKFast56/61 #include "_ROBOT_NAME___GROUP_NAME__ikfast_solver.cpp" +static const rclcpp::Logger LOGGER = rclcpp::get_logger("_ROBOT_NAME___GROUP_NAME__ikfast_solver"); + class IKFastKinematicsPlugin : public kinematics::KinematicsBase { std::vector joint_names_; @@ -182,7 +184,6 @@ class IKFastKinematicsPlugin : public kinematics::KinematicsBase Eigen::Isometry3d group_tip_to_chain_tip_; bool initialized_; // Internal variable that indicates whether solvers are configured and ready - const rclcpp::Logger LOGGER = rclcpp::get_logger("_ROBOT_NAME___GROUP_NAME__ikfast_solver"); const std::vector& getJointNames() const override { diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h index 18593d0786..5da4b067a6 100644 --- a/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h +++ b/moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h @@ -28,7 +28,7 @@ namespace testing { -const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.pilz_industrial_motion_planner.async_test"); +static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.pilz_industrial_motion_planner.async_test"); /** * @brief Test class that allows the handling of asynchronous test objects * diff --git a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp index dd0310d136..d7a498a280 100644 --- a/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp +++ b/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp @@ -49,7 +49,7 @@ namespace kinematics_plugin_loader { -rclcpp::Logger LOGGER = rclcpp::get_logger("kinematics_plugin_loader"); +static const rclcpp::Logger LOGGER = rclcpp::get_logger("kinematics_plugin_loader"); class KinematicsPluginLoader::KinematicsLoaderImpl { public: diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp index 11d638bf14..3382b3e6c0 100644 --- a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp +++ b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_path_constraints.cpp @@ -45,7 +45,7 @@ namespace default_planner_request_adapters { -rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.fix_start_state_path_constraints"); +static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_ros.fix_start_state_path_constraints"); class FixStartStatePathConstraints : public planning_request_adapter::PlanningRequestAdapter { From 243b0b2ccac156a75bcd158eefa86c8acf409110 Mon Sep 17 00:00:00 2001 From: Tyler Weaver Date: Fri, 19 May 2023 11:56:18 -0600 Subject: [PATCH 6/7] Add sonar cloud testing to CI (#2187) Co-authored-by: Ezra Brooks --- .github/workflows/ci.yaml | 12 ++++++++++++ sonar-project.properties | 7 +++++++ 2 files changed, 19 insertions(+) create mode 100644 sonar-project.properties diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index ae474284fd..227c70d537 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -49,6 +49,8 @@ jobs: # Changing linker to lld as ld has a behavior where it takes a long time to finish # Compile CCOV with Debug. Enable -Werror. TARGET_CMAKE_ARGS: > + --no-warn-unused-cli + -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld @@ -162,6 +164,16 @@ jobs: if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' with: files: ${{ env.BASEDIR }}/target_ws/coverage.info + - name: Install sonar-scanner and build-wrapper + if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' + uses: SonarSource/sonarcloud-github-c-cpp@v1 + - name: Run sonar-scanner + if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} + run: sonar-scanner -X --define project.settings=.work/target_ws/src/moveit2/sonar-project.properties + working-directory: ${{ github.workspace }} - name: Upload clang-tidy changes uses: rhaschke/upload-git-patch-action@main if: always() && matrix.env.CLANG_TIDY diff --git a/sonar-project.properties b/sonar-project.properties new file mode 100644 index 0000000000..bde20ee807 --- /dev/null +++ b/sonar-project.properties @@ -0,0 +1,7 @@ +sonar.projectKey=ros-planning_moveit2 +sonar.organization=moveit + +sonar.python.version=3 +sonar.sources=.work/target_ws/src + +sonar.cfamily.compile-commands=.work/target_ws/build/compile_commands.json From 2a5a80d828352a328fb08b1c0c8e5ef98d1e6046 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Mon, 22 May 2023 13:04:56 -0400 Subject: [PATCH 7/7] Change servo collision checking parameters to dynamically update (#2183) --- .../include/moveit_servo/collision_check.h | 13 ++- .../moveit_servo/include/moveit_servo/servo.h | 5 +- .../include/moveit_servo/servo_calcs.h | 4 +- .../moveit_servo/src/collision_check.cpp | 106 ++++++++++-------- moveit_ros/moveit_servo/src/servo.cpp | 12 +- moveit_ros/moveit_servo/src/servo_calcs.cpp | 4 +- 6 files changed, 82 insertions(+), 62 deletions(-) diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h index 742f399fe3..22f3db24f7 100644 --- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h +++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h @@ -59,8 +59,9 @@ class CollisionCheck * \param planning_scene_monitor: PSM should have scene monitor and state monitor * already started when passed into this class */ - CollisionCheck(const rclcpp::Node::SharedPtr& node, const servo::Params& servo_params, - const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor); + CollisionCheck(const rclcpp::Node::SharedPtr& node, + const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, + const std::shared_ptr& servo_param_listener); ~CollisionCheck() { @@ -83,6 +84,8 @@ class CollisionCheck // Pointer to the ROS node const std::shared_ptr node_; + // Servo parameters + const std::shared_ptr servo_param_listener_; servo::Params servo_params_; // Pointer to the collision environment @@ -94,9 +97,9 @@ class CollisionCheck // Scale robot velocity according to collision proximity and user-defined thresholds. // I scaled exponentially (cubic power) so velocity drops off quickly after the threshold. // Proximity decreasing --> decelerate - double velocity_scale_ = 1; - double self_collision_distance_ = 0; - double scene_collision_distance_ = 0; + double velocity_scale_ = 1.0; + double self_collision_distance_ = 0.0; + double scene_collision_distance_ = 0.0; bool collision_detected_ = false; const double self_velocity_scale_coefficient_; diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo.h b/moveit_ros/moveit_servo/include/moveit_servo/servo.h index 244a441080..a18909dea2 100644 --- a/moveit_ros/moveit_servo/include/moveit_servo/servo.h +++ b/moveit_ros/moveit_servo/include/moveit_servo/servo.h @@ -56,7 +56,7 @@ class Servo public: Servo(const rclcpp::Node::SharedPtr& node, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, - std::unique_ptr servo_param_listener); + const std::shared_ptr& servo_param_listener); /** \brief Start servo node */ void start(); @@ -88,7 +88,10 @@ class Servo friend class ServoFixture; private: + // Servo parameters + const std::shared_ptr servo_param_listener_; servo::Params servo_params_; + // Pointer to the collision environment planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_; diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h index 60a7c477f7..8d496579c5 100644 --- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h +++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h @@ -79,7 +79,7 @@ class ServoCalcs public: ServoCalcs(const rclcpp::Node::SharedPtr& node, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, - std::unique_ptr servo_param_listener); + const std::shared_ptr& servo_param_listener); ~ServoCalcs(); @@ -200,7 +200,7 @@ class ServoCalcs std::shared_ptr node_; // Servo parameters - std::unique_ptr servo_param_listener_; + const std::shared_ptr servo_param_listener_; servo::Params servo_params_; // Pointer to the collision environment diff --git a/moveit_ros/moveit_servo/src/collision_check.cpp b/moveit_ros/moveit_servo/src/collision_check.cpp index 7c8dc5f84c..3a3c8ede94 100644 --- a/moveit_ros/moveit_servo/src/collision_check.cpp +++ b/moveit_ros/moveit_servo/src/collision_check.cpp @@ -49,14 +49,16 @@ constexpr size_t ROS_LOG_THROTTLE_PERIOD = 30 * 1000; // Milliseconds to thrott namespace moveit_servo { // Constructor for the class that handles collision checking -CollisionCheck::CollisionCheck(const rclcpp::Node::SharedPtr& node, const servo::Params& servo_params, - const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor) +CollisionCheck::CollisionCheck(const rclcpp::Node::SharedPtr& node, + const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, + const std::shared_ptr& servo_param_listener) : node_(node) - , servo_params_(servo_params) + , servo_param_listener_(servo_param_listener) + , servo_params_(servo_param_listener_->get_params()) , planning_scene_monitor_(planning_scene_monitor) , self_velocity_scale_coefficient_(-log(0.001) / servo_params_.self_collision_proximity_threshold) , scene_velocity_scale_coefficient_(-log(0.001) / servo_params_.scene_collision_proximity_threshold) - , period_(1. / servo_params_.collision_check_rate) + , period_(1.0 / servo_params_.collision_check_rate) { // Init collision request collision_request_.group_name = servo_params_.move_group_name; @@ -100,58 +102,68 @@ void CollisionCheck::stop() void CollisionCheck::run() { - // Update to the latest current state - current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState(); - current_state_->updateCollisionBodyTransforms(); - collision_detected_ = false; - - // Do a timer-safe distance-based collision detection - collision_result_.clear(); - getLockedPlanningSceneRO()->getCollisionEnv()->checkRobotCollision(collision_request_, collision_result_, - *current_state_); - scene_collision_distance_ = collision_result_.distance; - collision_detected_ |= collision_result_.collision; - collision_result_.print(); - - collision_result_.clear(); - // Self-collisions and scene collisions are checked separately so different thresholds can be used - getLockedPlanningSceneRO()->getCollisionEnvUnpadded()->checkSelfCollision( - collision_request_, collision_result_, *current_state_, getLockedPlanningSceneRO()->getAllowedCollisionMatrix()); - self_collision_distance_ = collision_result_.distance; - collision_detected_ |= collision_result_.collision; - collision_result_.print(); - - velocity_scale_ = 1; - // If we're definitely in collision, stop immediately - if (collision_detected_) + // Update the latest parameters + if (servo_params_.enable_parameter_update) { - velocity_scale_ = 0; + servo_params_ = servo_param_listener_->get_params(); } - else + + // Only do collision checking if the check_collisions parameter is currently true. + velocity_scale_ = 1; + if (servo_params_.check_collisions) { - // If we are far from a collision, velocity_scale should be 1. - // If we are very close to a collision, velocity_scale should be ~zero. - // When scene_collision_proximity_threshold is breached, start decelerating exponentially. - if (scene_collision_distance_ < servo_params_.scene_collision_proximity_threshold) + // Update to the latest current state + current_state_ = planning_scene_monitor_->getStateMonitor()->getCurrentState(); + current_state_->updateCollisionBodyTransforms(); + collision_detected_ = false; + + // Do a timer-safe distance-based collision detection + collision_result_.clear(); + getLockedPlanningSceneRO()->getCollisionEnv()->checkRobotCollision(collision_request_, collision_result_, + *current_state_); + scene_collision_distance_ = collision_result_.distance; + collision_detected_ |= collision_result_.collision; + collision_result_.print(); + + collision_result_.clear(); + // Self-collisions and scene collisions are checked separately so different thresholds can be used + getLockedPlanningSceneRO()->getCollisionEnvUnpadded()->checkSelfCollision( + collision_request_, collision_result_, *current_state_, getLockedPlanningSceneRO()->getAllowedCollisionMatrix()); + self_collision_distance_ = collision_result_.distance; + collision_detected_ |= collision_result_.collision; + collision_result_.print(); + + // If we're definitely in collision, stop immediately + if (collision_detected_) { - // velocity_scale = e ^ k * (collision_distance - threshold) - // k = - ln(0.001) / collision_proximity_threshold - // velocity_scale should equal one when collision_distance is at collision_proximity_threshold. - // velocity_scale should equal 0.001 when collision_distance is at zero. - velocity_scale_ = std::min(velocity_scale_, - exp(scene_velocity_scale_coefficient_ * - (scene_collision_distance_ - servo_params_.scene_collision_proximity_threshold))); + velocity_scale_ = 0; } - - if (self_collision_distance_ < servo_params_.self_collision_proximity_threshold) + else { - velocity_scale_ = - std::min(velocity_scale_, exp(self_velocity_scale_coefficient_ * - (self_collision_distance_ - servo_params_.self_collision_proximity_threshold))); + // If we are far from a collision, velocity_scale should be 1. + // If we are very close to a collision, velocity_scale should be ~zero. + // When scene_collision_proximity_threshold is breached, start decelerating exponentially. + if (scene_collision_distance_ < servo_params_.scene_collision_proximity_threshold) + { + // velocity_scale = e ^ k * (collision_distance - threshold) + // k = - ln(0.001) / collision_proximity_threshold + // velocity_scale should equal one when collision_distance is at collision_proximity_threshold. + // velocity_scale should equal 0.001 when collision_distance is at zero. + velocity_scale_ = std::min( + velocity_scale_, exp(scene_velocity_scale_coefficient_ * + (scene_collision_distance_ - servo_params_.scene_collision_proximity_threshold))); + } + + if (self_collision_distance_ < servo_params_.self_collision_proximity_threshold) + { + velocity_scale_ = std::min(velocity_scale_, + exp(self_velocity_scale_coefficient_ * + (self_collision_distance_ - servo_params_.self_collision_proximity_threshold))); + } } } - // publish message + // Publish collision velocity scaling message. { auto msg = std::make_unique(); msg->data = velocity_scale_; diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp index 2b9bdd091c..7bbe6c55c3 100644 --- a/moveit_ros/moveit_servo/src/servo.cpp +++ b/moveit_ros/moveit_servo/src/servo.cpp @@ -50,12 +50,12 @@ constexpr double ROBOT_STATE_WAIT_TIME = 10.0; // seconds Servo::Servo(const rclcpp::Node::SharedPtr& node, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, - std::unique_ptr servo_param_listener) - : servo_params_{ servo_param_listener->get_params() } + const std::shared_ptr& servo_param_listener) + : servo_param_listener_(servo_param_listener) + , servo_params_{ servo_param_listener_->get_params() } , planning_scene_monitor_{ planning_scene_monitor } - , servo_calcs_{ node, planning_scene_monitor_, std::move(servo_param_listener) } - , collision_checker_{ node, servo_params_, planning_scene_monitor_ } - + , servo_calcs_{ node, planning_scene_monitor_, servo_param_listener_ } + , collision_checker_{ node, planning_scene_monitor_, servo_param_listener_ } { } @@ -68,6 +68,8 @@ void Servo::start() return; } + servo_params_ = servo_param_listener_->get_params(); + // Crunch the numbers in this timer servo_calcs_.start(); diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp index be284ea907..aae13e8c8d 100644 --- a/moveit_ros/moveit_servo/src/servo_calcs.cpp +++ b/moveit_ros/moveit_servo/src/servo_calcs.cpp @@ -74,9 +74,9 @@ int const THREAD_PRIORITY = 40; // Constructor for the class that handles servoing calculations ServoCalcs::ServoCalcs(const rclcpp::Node::SharedPtr& node, const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor, - std::unique_ptr servo_param_listener) + const std::shared_ptr& servo_param_listener) : node_(node) - , servo_param_listener_(std::move(servo_param_listener)) + , servo_param_listener_(servo_param_listener) , servo_params_(servo_param_listener_->get_params()) , planning_scene_monitor_(planning_scene_monitor) , stop_requested_(true)