[blog] First Indigo release from moveit repo. #115

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130s commented Jan 4, 2017

DO NOT MERGE YET.


I still want to add comparison with Jade. But other than that it's ready for review.

  • As you see, I'm formatting changelogs into a table. I thought it's convenient for many purposes to be able to see the availability of new changes among ROS distros.
  • Not sure if we should mention about SONAME. Those who build from source need to rebuild with the latest code right (then we better mention it)?
  • @v4hn Would you give me an idea of the announcement discussed in ros-planning/moveit#366 (comment) so that I can include it here? Or are you going to send it separately to the mailinglist?
+slug: firstIndigoRelease
+title: First MoveIt! release in 2017 into ROS Indigo
+media_type: image
+media_link: __TBD__

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internal image TBD does not exist (line 163)

@davetcoleman

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internal image TBD does not exist (line 163)

@130s 130s changed the title from [WIP][blog] First Indigo release from moveit repo. to [blog] First Indigo release from moveit repo. Jan 4, 2017

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Now I removed WIP status and had a comment addressed. I still like to wait for opinions about ABI changes.

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130s commented Jan 4, 2017

Now I removed WIP status and had a comment addressed. I still like to wait for opinions about ABI changes.

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This is a great summary!

Installing MoveIt via one package worked before, so I would prefer if
you could state explicitly that ros-indigo-moveit replaced ros-indigo-moveit-full.

I want to propose another section before the full Changelog:

Things you should know
===================

* **Rebuild your full (moveit-related) workspace** or you might experience problems.
  There have been some (mostly internal) binary-incompatible changes for speedup and safety.

* **Make sure you have the new version of all relevant moveit packages.**
  Because of reorganization of the development process and the package structure, you might find your system omitted some packages when installing updates in ubuntu.
  Updating them explicitly should work though.

* **The move_group node loads all core-plugins implicitly.**
  If you notice unwanted services/actions, you can disable these explicitly in your `move_group.launch`.
  [The change to our `move_group.launch` template](https://github.com/ros-planning/moveit/pull/359/files#diff-738c7ef082dc116580b8bb77c1b20e26) illustrates the changed interface.

* **"Invalid Trajectory: start point deviates from current robot state more than ..."**
  MoveIt 0.7.3+ ensures that the start state of the robot is near the current state before executing a trajectory.
  The check might be violated if the noise in your JointStates exceeds the default threshold value of 0.01 per joint even if your robot did not move between planning and execution.
  In this case you can increase the threshold value in the ros parameter `/move_group/trajectory_execution/allowed_start_tolerance` - or disable the check by setting it to 0.0

* **MoveIt 0.7.5+ provides libraries called `libmoveit*.so.0.7.3`.**
  This version suffix is called an SONAME and (in MoveIt indigo) indicates the last version that broke binary compatibility.

This is all that comes to my mind for now.

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v4hn commented Jan 5, 2017

This is a great summary!

Installing MoveIt via one package worked before, so I would prefer if
you could state explicitly that ros-indigo-moveit replaced ros-indigo-moveit-full.

I want to propose another section before the full Changelog:

Things you should know
===================

* **Rebuild your full (moveit-related) workspace** or you might experience problems.
  There have been some (mostly internal) binary-incompatible changes for speedup and safety.

* **Make sure you have the new version of all relevant moveit packages.**
  Because of reorganization of the development process and the package structure, you might find your system omitted some packages when installing updates in ubuntu.
  Updating them explicitly should work though.

* **The move_group node loads all core-plugins implicitly.**
  If you notice unwanted services/actions, you can disable these explicitly in your `move_group.launch`.
  [The change to our `move_group.launch` template](https://github.com/ros-planning/moveit/pull/359/files#diff-738c7ef082dc116580b8bb77c1b20e26) illustrates the changed interface.

* **"Invalid Trajectory: start point deviates from current robot state more than ..."**
  MoveIt 0.7.3+ ensures that the start state of the robot is near the current state before executing a trajectory.
  The check might be violated if the noise in your JointStates exceeds the default threshold value of 0.01 per joint even if your robot did not move between planning and execution.
  In this case you can increase the threshold value in the ros parameter `/move_group/trajectory_execution/allowed_start_tolerance` - or disable the check by setting it to 0.0

* **MoveIt 0.7.5+ provides libraries called `libmoveit*.so.0.7.3`.**
  This version suffix is called an SONAME and (in MoveIt indigo) indicates the last version that broke binary compatibility.

This is all that comes to my mind for now.

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Thanks @v4hn for the additional notice. It is added too.

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130s commented Jan 5, 2017

Thanks @v4hn for the additional notice. It is added too.

@v4hn v4hn merged commit a5d179e into ros-planning:gh-pages Jan 6, 2017

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@130s 130s deleted the 130s:blog/indigo_1stfrommoveitrepo branch Jan 6, 2017

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