moveit_task_constructor/core/CHANGELOG.rst
Robert Haschke ef1cdeea86
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0.1.4
2025-10-15 13:53:26 +02:00

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package moveit_task_constructor_core
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.1.4 (2025-10-15)
------------------
* Avoid duplicate scenes in Solution.msg from generator stages (`#639 <https://github.com/moveit/moveit_task_constructor/issues/639>`_)
* Allow max Cartesian link speed in PlannerInterface (`#277 <https://github.com/moveit/moveit_task_constructor/issues/277>`_)
* Enable collisions visualizations (`#708 <https://github.com/moveit/moveit_task_constructor/issues/708>`_)
* LimitSolutions wrapper stage (`#710 <https://github.com/moveit/moveit_task_constructor/issues/710>`_)
* Improve code documentation
* CI: Fix Noble builds
* Pick with custom max_velocity_scaling_factor during approach+lift
* Rework pybind11 ABI compatibility checks
* Remove pybind11 submodule
* Upgrade pybind11 to v3
* Modernize declaration of compile options
* Factor out Python property handling to allow for reuse in custom Python wrappers
* Fix clamping of joint constraints (`#665 <https://github.com/moveit/moveit_task_constructor/issues/665>`_)
* Correctly report failures instead of issueing console warnings
* Increase minimum required CMake version to 3.16 supported by Ubuntu 20.04
* Python API: Allow passing a task's introspection object to SolutionBase::toMsg()
* clang-format-14
* Add support for GenerateRandomPose
* python: Add Task::setRobotModel
* Add path_constraints property to Connect stage
* provide a fmt wrapper (`#615 <https://github.com/moveit/moveit_task_constructor/issues/615>`_)
* Update API: JumpThreshold -> CartesianPrecision (`#611 <https://github.com/moveit/moveit_task_constructor/issues/611>`_)
* Reduce stop time due to preempt (`#598 <https://github.com/moveit/moveit_task_constructor/issues/598>`_)
* Add unittest for `#581 <https://github.com/moveit/moveit_task_constructor/issues/581>`_
* Fix early planning preemption (`#597 <https://github.com/moveit/moveit_task_constructor/issues/597>`_)
* MoveRelative: fix segfault on empty trajectory (`#595 <https://github.com/moveit/moveit_task_constructor/issues/595>`_)
* MoveRelative: handle equal min/max distance (`#593 <https://github.com/moveit/moveit_task_constructor/issues/593>`_)
* Cleanup unit tests and allow them to run via both, cmdline and pytest
* Connect: Relax validity check of reached end state
* Unify Python demo scripts
* Switch shebang to python3
* Silence gcc's overloaded-virtual warnings
* Add property to enable/disable pruning at runtime (`#590 <https://github.com/moveit/moveit_task_constructor/issues/590>`_)
* Disable pruning by default
* test_pruning.cpp: Add new test
* test_pruning.cpp: Extend test to ParallelContainer
* PassThrough: cleanup unused headers
* Avoid segfault if TimeParameterization is not set
* CartesianPath: allow ik_frame definition if start and end are given as joint-space poses
* Generalize utils::getRobotTipForFrame() to return error_msg instead of calling markAsFailure() on a solution
* ComputeIK: Allow additional constraints for filtering solutions (`#464 <https://github.com/moveit/moveit_task_constructor/issues/464>`_)
* Expose MultiPlanner to Python (`#474 <https://github.com/moveit/moveit_task_constructor/issues/474>`_)
* Add unittest cartesianCollisionMinMaxDistance (`#538 <https://github.com/moveit/moveit_task_constructor/issues/538>`_)
* Simplify formatting code with https://github.com/fmtlib (`#499 <https://github.com/moveit/moveit_task_constructor/issues/499>`_)
* Add NoOp stage (`#534 <https://github.com/moveit/moveit_task_constructor/issues/534>`_)
* ModifyPlanningScene: check state for collisions
* Improve TypeError exceptions
* Drop Melodic support
* Switch to package py_binding_tools
* Add ability to move CollisionObjects (`#567 <https://github.com/moveit/moveit_task_constructor/issues/567>`_)
* Improve description of max_distance property of Connect stage (`#564 <https://github.com/moveit/moveit_task_constructor/issues/564>`_)
* Add Generator::spawn(from, to, trajectory) variant (`#546 <https://github.com/moveit/moveit_task_constructor/issues/546>`_)
* Cosmetic fixes
* Fix Solution::fillMessage() (`#432 <https://github.com/moveit/moveit_task_constructor/issues/432>`_)
* Fix generation of Solution msg: consider backward operation
* Propagate errors from planners to solution comment (`#525 <https://github.com/moveit/moveit_task_constructor/issues/525>`_)
* JointInterpolationPlanner: Check joint bounds (`#505 <https://github.com/moveit/moveit_task_constructor/issues/505>`_)
* Add property trajectory_execution_info (`#355 <https://github.com/moveit/moveit_task_constructor/issues/355>`_, `#502 <https://github.com/moveit/moveit_task_constructor/issues/502>`_)
* Clear JointStates in scene diff (`#504 <https://github.com/moveit/moveit_task_constructor/issues/504>`_)
* Set a non-infinite default timeout in CurrentState stage (`#491 <https://github.com/moveit/moveit_task_constructor/issues/491>`_)
* Add GenerateRandomPose stage (`#166 <https://github.com/moveit/moveit_task_constructor/issues/166>`_)
* GenerateGraspPose: Expose rotation_axis as property (`#535 <https://github.com/moveit/moveit_task_constructor/issues/535>`_)
* Connect: ensure end-state matches goal state (`#532 <https://github.com/moveit/moveit_task_constructor/issues/532>`_)
* Fix discontinuity in trajectory (`#485 <https://github.com/moveit/moveit_task_constructor/issues/485>`_)
* Adaptions for https://github.com/ros-planning/moveit/pull/3534
* Cleanup debug output
* Fix duplicate solutions
* printPendingPairs(os) -> os<<pendingPairsPrinter()
* Fix leaking of failures into enumerated solutions
* Add more debugging output
* Unit tests for `#485 <https://github.com/moveit/moveit_task_constructor/issues/485>`_
* DelayingWrapper stage to delay solution shipping in unit tests
* Simplify tests
* Skip Fallbacks::replaceImpl() when already correctly initialized (`#494 <https://github.com/moveit/moveit_task_constructor/issues/494>`_)
* Fix demos (`#493 <https://github.com/moveit/moveit_task_constructor/issues/493>`_)
* Limit time to wait for execute_task_solution action server
* Replace namespace robot\_[model|state] with moveit::core
* MPS: fixup processCollisionObject
* Merge PR `#460 <https://github.com/moveit/moveit_task_constructor/issues/460>`_: improvements to ModifyPlanningScene stage
* Gracefully handle NULL robot_trajectory (`#469 <https://github.com/moveit/moveit_task_constructor/issues/469>`_)
* introspection: remove any invalid ROS-name chars from hostname (`#465 <https://github.com/moveit/moveit_task_constructor/issues/465>`_)
* Fix SolutionBase::fillMessage(): also write start_scene
* Fix add/remove object in backward operation
* Add python binding for ModifyPlanningScene::removeObject
* ComputeIK: update RobotState before calling setFromIK()
* Use pluginlib consistently (`#463 <https://github.com/moveit/moveit_task_constructor/issues/463>`_)
* Expose argument of PipelinePlanner's constructor to Python (`#462 <https://github.com/moveit/moveit_task_constructor/issues/462>`_)
* Fix allowCollisions(object, enable_collision)
* TestModifyPlanningScene
* Basic Move test: MoveRelative + MoveTo
* Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool)
* Add python binding for Task::insert
* Add Stage::explainFailure() (`#445 <https://github.com/moveit/moveit_task_constructor/issues/445>`_)
* Improve documentation (`#431 <https://github.com/moveit/moveit_task_constructor/issues/431>`_)
* JointInterpolationPlanner: pass optional max_effort property along to GripperCommand (`#458 <https://github.com/moveit/moveit_task_constructor/issues/458>`_)
* Task: findChild() and operator[] should directly operate on stages() (`#435 <https://github.com/moveit/moveit_task_constructor/issues/435>`_)
* Contributors: Abishalini, Ali Haider, Captain Yoshi, Daniel García López, Gauthier Hentz, Henning Kayser, JafarAbdi, Michael Görner, Michael Wiznitzer, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, VideoSystemsTech
0.1.3 (2023-03-06)
------------------
* MoveRelative: Allow backwards operation for joint-space delta (`#436 <https://github.com/ros-planning/moveit_task_constructor/issues/436>`_)
* ComputeIK: Limit collision checking to JMG (`#428 <https://github.com/ros-planning/moveit_task_constructor/issues/428>`_)
* Fix: Fetch pybind11 submodule if not yet present
* Contributors: Robert Haschke
0.1.2 (2023-02-24)
------------------
* Remove moveit/__init__.py during .deb builds to avoid installation conflicts
* MultiPlanner solver (`#429 <https://github.com/ros-planning/moveit_task_constructor/issues/429>`_): a planner that tries multiple planners in sequence
* CartesianPath: Deprecate redundant property setters
* PlannerInterface: provide "timeout" property
* PlannerInterface: provide setters for properties
* JointInterpolation: fix timeout handling
* Contributors: Robert Haschke
0.1.1 (2023-02-15)
------------------
* Resort to MoveIt's python tools
* Provide ComputeIK.ik_frame as full PoseStamped
* Fixed build farm issues
* Removed unused eigen_conversions includes
* Fixed odr compiler warning on Buster
* Fixed missing dependency declarations
* Contributors: Robert Haschke
0.1.0 (2023-02-02)
------------------
* Initial release
* Contributors: Michael Görner, Robert Haschke, Captain Yoshi, Christian Petersmeier, Henning Kayser, Jafar Abdi, Tyler Weaver