API changes in MoveIt releases
- ServoServer was renamed to ServoNode
CollisionObject
messages are now defined with aPose
, and shapes and subframes are defined relative to the object's pose. This makes it easier to place objects with subframes and multiple shapes in the scene. This causes several changes:getFrameTransform()
now returns this pose instead of the first shape's pose.- The Rviz plugin's manipulation tab now uses the object's pose instead of the shape pose to evaluate if object's are in the region of interest.
- Planning scene geometry text files (
.scene
) have changed format. Add a line0 0 0 0 0 0 1
under each line with an asterisk to upgrade old files if required.
- Static member variable interface of the CollisionDetectorAllocatorTemplate for the string NAME was replaced with a virtual method
getName
.
- RobotModel no longer overrides empty URDF collision geometry by matching the visual geometry of the link.
- Planned trajectories are slow by default.
The default values of the
velocity_scaling_factor
andacceleration_scaling_factor
can now be customized and default to 0.1 instead of 1.0. The values can be changed by setting the parametersdefault_acceleration_scaling_factor
anddefault_velocity_scaling_factor
in thejoint_limits.yaml
of your robot'smoveit_config
package. Consider setting them to values between 0.2 and 0.6, to allow for significant speedup/slowdown of your application. Additionally, you can always change the factors per request with the corresponding methods in the move_group_interface, the MoveGroupCommander or in the Rviz interface. (1890) - Extended the return value of
MoveitCommander.MoveGroup.plan()
fromtrajectory
to a tuple of(success, trajectory, planning_time, error_code)
to better match the C++ MoveGroupInterface (790) moveit_rviz.launch
, generated by MSA, provides an argumentrviz_config
to configure the rviz config to be used. The old boolean config argument was dropped. (1397)- Moved the example package
moveit_controller_manager_example
into moveit_tutorials - Requests to
get_planning_scene
service without explicitly setting "components" now return full scene moveit_ros_planning
no longer depends onmoveit_ros_perception
CollisionRobot
andCollisionWorld
are combined into a singleCollisionEnv
class. This applies for all derived collision checkers asFCL
,ALL_VALID
,HYBRID
andDISTANCE_FIELD
. Consequently,getCollisionRobot[Unpadded] / getCollisionWorld
functions are replaced through agetCollisionEnv
in the planning scene and return the new combined environment. This unified collision environment provides the union of all member functions ofCollisionRobot
andCollisionWorld
. Note that callingcheckRobotCollision
of theCollisionEnv
does not take aCollisionRobot
as an argument anymore as it is implicitly contained in theCollisionEnv
.RobotTrajectory
provides a copy constructor that allows a shallow (default) and deep copy of waypoints- Replace the redundant namespaces
robot_state::
androbot_model::
with the actual namespacemoveit::core::
. The additional namespaces will disappear in the future (ROS2). - Moved the library
moveit_cpp
tomoveit_ros_planning
. The classes are now in namespacemoveit_cpp
, access viamoveit::planning_interface
is deprecated. - The joint states of
passive
joints must be published in ROS and the CurrentStateMonitor will now wait for them as well. Their semantics dictate that they cannot be actively controlled, but they must be known to use the full robot state in collision checks. (moveit/moveit#2663) - Removed deprecated header
moveit/macros/deprecation.h
. Use[[deprecated]]
instead. - All uses of
MOVEIT_CLASS_FORWARD
et. al. must now be followed by a semicolon for consistency (and to get -pedantic builds to pass for the codebase).
- Migration to
tf2
API. - Replaced Eigen::Affine3d with Eigen::Isometry3d, which is computationally more efficient.
Simply find-replace occurences of Affine3d:
find . -iname "*.[hc]*" -print0 | xargs -0 sed -i 's#Affine3#Isometry3#g'
- The move_group capability
ExecuteTrajectoryServiceCapability
has been removed in favor of the improvedExecuteTrajectoryActionCapability
capability. Since Indigo, both capabilities were supported. If you still load default capabilities in yourconfig/launch/move_group.launch
, you can just remove them from the capabilities parameter. The correct default capabilities will be loaded automatically. - Deprecated method
CurrentStateMonitor::waitForCurrentState(double wait_time)
was finally removed. - Renamed
RobotState::getCollisionBodyTransforms
togetCollisionBodyTransform
as it returns a single transform only. - Removed deprecated class MoveGroup (was renamed to MoveGroupInterface).
- KinematicsBase: Deprecated members
tip_frame_
,search_discretization_
. Usetip_frames_
andredundant_joint_discretization_
instead. - KinematicsBase: Deprecated
initialize(robot_description, ...)
in favour ofinitialize(robot_model, ...)
. Adapt your kinematics plugin to directly receive aRobotModel
. See the KDL plugin for an example. - IK: Removed notion of IK attempts and redundant random seeding in RobotState::setFromIK(). Number of attempts is limited by timeout only. (#1288)
Remove parameters
kinematics_solver_attempts
from yourkinematics.yaml
config files. RDFLoader
/RobotModelLoader
: removed TinyXML-based API (moveit/moveit#1254)- Deprecated
EndEffectorInteractionStyle
got removed fromRobotInteraction
(moveit/moveit#1287) Use the correspondingInteractionStyle
definitions instead
- In the C++ MoveGroupInterface class the
plan()
method returns aMoveItErrorCode
object and not a boolean.static_cast<bool>(mgi.plan())
can be used to achieve the old behavior. CurrentStateMonitor::waitForCurrentState(double wait_time)
has been renamed towaitForCompleteState
to better reflect the actual semantics. Additionally a new methodwaitForCurrentState(const ros::Time t = ros::Time::now())
was added that actually waits until all joint updates are newer thant
.- To avoid deadlocks, the PlanningSceneMonitor listens to its own EventQueue, monitored by an additional spinner thread. Providing a custom NodeHandle, a user can control which EventQueue and processing thread is used instead. Providing a default NodeHandle, the old behavior (using the global EventQueue) can be restored, which is however not recommended.