Package Summary

Tags No category tags.
Version 2.14.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 🤖 MoveIt for ROS 2
Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2025-08-10
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak
  • Tyler Weaver
  • Henning Kayser

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver
  • Adam Pettinger

MoveIt Servo

See the Realtime Arm Servoing Tutorial for installation instructions, quick-start guide, an overview about moveit_servo, and to learn how to set it up on your robot.

CHANGELOG

Changelog for package moveit_servo

2.14.0 (2025-06-13)

  • Remove gripper_controllers dependency (#3474)
  • Contributors: Felix Exner (fexner)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

  • Minor typo fix in simulated Panda servo config (#3444)
  • Fix Servo JointJog Crash (#3351)
  • Contributors: Gautham Sam, Matthew Foran

2.13.0 (2025-02-15)

  • Update current state even if servo is paused (#3341)
  • Update robot state if time since last command exceeds timeout (#3251)
  • Fix docstring for Servo smoothHalt function (#3298)
  • servo_keyboard_input: Add Windows support (#3290)
  • Servo Node - pause service: check if request is different than current state. (#3265)
  • Reduce mutex scope in Servo thread (#3259)
  • Update includes for generate_parameter_library 0.4.0 (#3255)
  • Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp (#3139)
  • Contributors: Henning Kayser, Jelmer de Wolde, Kazuya Oguma, Paul Gesel, Sebastian Castro, Silvio Traversaro

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)
  • [moveit_servo] avoid race condition when calling ~/pause_servo (#3059)
  • Cleanup #3056 (#3058)
  • Wait for nonzero joint states in PSM in Servo CPP integration test (#3056)
  • [moveit_servo] fix: ensure ee_pose on planning_frame (#3046)
  • set filter state when no commands (#3027)
  • Obtain time from node. (#3032)
  • [Servo] Use velocity scaling properly in Cartesian and pose tracking commands (#3007)
  • Contributors: Dongya Jiang, Jelmer de Wolde, Paul Gesel, Robert Haschke, Sebastian Castro, Tom Noble

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)

    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)

  • Fix error message text in servo.cpp (#2769)

  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.14.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 🤖 MoveIt for ROS 2
Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2025-08-10
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak
  • Tyler Weaver
  • Henning Kayser

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver
  • Adam Pettinger

MoveIt Servo

See the Realtime Arm Servoing Tutorial for installation instructions, quick-start guide, an overview about moveit_servo, and to learn how to set it up on your robot.

CHANGELOG

Changelog for package moveit_servo

2.14.0 (2025-06-13)

  • Remove gripper_controllers dependency (#3474)
  • Contributors: Felix Exner (fexner)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

  • Minor typo fix in simulated Panda servo config (#3444)
  • Fix Servo JointJog Crash (#3351)
  • Contributors: Gautham Sam, Matthew Foran

2.13.0 (2025-02-15)

  • Update current state even if servo is paused (#3341)
  • Update robot state if time since last command exceeds timeout (#3251)
  • Fix docstring for Servo smoothHalt function (#3298)
  • servo_keyboard_input: Add Windows support (#3290)
  • Servo Node - pause service: check if request is different than current state. (#3265)
  • Reduce mutex scope in Servo thread (#3259)
  • Update includes for generate_parameter_library 0.4.0 (#3255)
  • Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp (#3139)
  • Contributors: Henning Kayser, Jelmer de Wolde, Kazuya Oguma, Paul Gesel, Sebastian Castro, Silvio Traversaro

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)
  • [moveit_servo] avoid race condition when calling ~/pause_servo (#3059)
  • Cleanup #3056 (#3058)
  • Wait for nonzero joint states in PSM in Servo CPP integration test (#3056)
  • [moveit_servo] fix: ensure ee_pose on planning_frame (#3046)
  • set filter state when no commands (#3027)
  • Obtain time from node. (#3032)
  • [Servo] Use velocity scaling properly in Cartesian and pose tracking commands (#3007)
  • Contributors: Dongya Jiang, Jelmer de Wolde, Paul Gesel, Robert Haschke, Sebastian Castro, Tom Noble

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)

    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)

  • Fix error message text in servo.cpp (#2769)

  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.14.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 🤖 MoveIt for ROS 2
Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2025-08-10
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak
  • Tyler Weaver
  • Henning Kayser

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver
  • Adam Pettinger

MoveIt Servo

See the Realtime Arm Servoing Tutorial for installation instructions, quick-start guide, an overview about moveit_servo, and to learn how to set it up on your robot.

CHANGELOG

Changelog for package moveit_servo

2.14.0 (2025-06-13)

  • Remove gripper_controllers dependency (#3474)
  • Contributors: Felix Exner (fexner)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

  • Minor typo fix in simulated Panda servo config (#3444)
  • Fix Servo JointJog Crash (#3351)
  • Contributors: Gautham Sam, Matthew Foran

2.13.0 (2025-02-15)

  • Update current state even if servo is paused (#3341)
  • Update robot state if time since last command exceeds timeout (#3251)
  • Fix docstring for Servo smoothHalt function (#3298)
  • servo_keyboard_input: Add Windows support (#3290)
  • Servo Node - pause service: check if request is different than current state. (#3265)
  • Reduce mutex scope in Servo thread (#3259)
  • Update includes for generate_parameter_library 0.4.0 (#3255)
  • Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp (#3139)
  • Contributors: Henning Kayser, Jelmer de Wolde, Kazuya Oguma, Paul Gesel, Sebastian Castro, Silvio Traversaro

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)
  • [moveit_servo] avoid race condition when calling ~/pause_servo (#3059)
  • Cleanup #3056 (#3058)
  • Wait for nonzero joint states in PSM in Servo CPP integration test (#3056)
  • [moveit_servo] fix: ensure ee_pose on planning_frame (#3046)
  • set filter state when no commands (#3027)
  • Obtain time from node. (#3032)
  • [Servo] Use velocity scaling properly in Cartesian and pose tracking commands (#3007)
  • Contributors: Dongya Jiang, Jelmer de Wolde, Paul Gesel, Robert Haschke, Sebastian Castro, Tom Noble

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)

    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)

  • Fix error message text in servo.cpp (#2769)

  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.14.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 🤖 MoveIt for ROS 2
Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2025-08-10
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak
  • Tyler Weaver
  • Henning Kayser

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver
  • Adam Pettinger

MoveIt Servo

See the Realtime Arm Servoing Tutorial for installation instructions, quick-start guide, an overview about moveit_servo, and to learn how to set it up on your robot.

CHANGELOG

Changelog for package moveit_servo

2.14.0 (2025-06-13)

  • Remove gripper_controllers dependency (#3474)
  • Contributors: Felix Exner (fexner)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

  • Minor typo fix in simulated Panda servo config (#3444)
  • Fix Servo JointJog Crash (#3351)
  • Contributors: Gautham Sam, Matthew Foran

2.13.0 (2025-02-15)

  • Update current state even if servo is paused (#3341)
  • Update robot state if time since last command exceeds timeout (#3251)
  • Fix docstring for Servo smoothHalt function (#3298)
  • servo_keyboard_input: Add Windows support (#3290)
  • Servo Node - pause service: check if request is different than current state. (#3265)
  • Reduce mutex scope in Servo thread (#3259)
  • Update includes for generate_parameter_library 0.4.0 (#3255)
  • Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp (#3139)
  • Contributors: Henning Kayser, Jelmer de Wolde, Kazuya Oguma, Paul Gesel, Sebastian Castro, Silvio Traversaro

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)
  • [moveit_servo] avoid race condition when calling ~/pause_servo (#3059)
  • Cleanup #3056 (#3058)
  • Wait for nonzero joint states in PSM in Servo CPP integration test (#3056)
  • [moveit_servo] fix: ensure ee_pose on planning_frame (#3046)
  • set filter state when no commands (#3027)
  • Obtain time from node. (#3032)
  • [Servo] Use velocity scaling properly in Cartesian and pose tracking commands (#3007)
  • Contributors: Dongya Jiang, Jelmer de Wolde, Paul Gesel, Robert Haschke, Sebastian Castro, Tom Noble

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)

    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)

  • Fix error message text in servo.cpp (#2769)

  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.5.5
License BSD 3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/waveshareteam/roarm_ws_em0.git
VCS Type git
VCS Version ros2-humble
Last Updated 2024-12-26
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak
  • Tyler Weaver
  • Henning Kayser

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver
  • Adam Pettinger

Moveit Servo

See the Realtime Arm Servoing Tutorial for installation instructions, quick-start guide, an overview about moveit_servo, and to learn how to set it up on your robot.

CHANGELOG

Changelog for package moveit_servo

2.5.5 (2023-09-10)

  • Replaced numbers with SystemDefaultsQos() (#2271) (#2277) (cherry picked from commit 5506dd516a91bc145e462b493668ef8623d43521) Co-authored-by: Shobuj Paul <<72087882+Shobuj-Paul@users.noreply.github.com>>

  • [Servo] CI simplification (backport #1556) (#1980)

  • Fix clang compiler warnings (backport of #1712) (#1896)

    • Fix warning: definition of implicit copy assignment operator is deprecated
    • Fix warning: expression with side effects will be evaluated
    • Fix warning: passing by value
    • Enable -Werror
    • Fix -Wdelete-non-abstract-non-virtual-dtor
    • Fix more clang warnings
    • Modernize gtest: TYPED_TEST_CASE -> TYPED_TEST_SUITE
    • Fix GoogleTestVerification.UninstantiatedTypeParameterizedTestSuite

    - Add default copy/move constructors/assignment operators As a user-declared destructor deletes any implicitly-defined move constructor/assignment operator, we need to declared them manually. This in turn requires to declare the copy constructor/assignment as well.

    • Explicitly declare overrides
    • Add default constructors as they are not implicitly declared anymore
    • Declare selected classes as final
    • Add noexcept specifier to constructors
    • Fixup gmock/gtest warnings
  • Cleanup msg includes: Use C++ instead of C header (backport #1844)

    • Cleanup msg includes: Use C++ instead of C header
    • Remove obsolete include: moveit_msgs/srv/execute_known_trajectory.hpp
  • Use <> for non-local headers (#1765) Unless a header lives in the same or a child directory of the file including it, it's recommended to use <> for the #include statement. For more information, see the C++ Core Guidelines item SF.12 https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else (cherry picked from commit 7a1f2a101f9aeb8557e8a31656bbe1a6d53b430e)

  • Re-enable clang-tidy check [performance-unnecessary-value-param]{.title-ref} (backport #1703)

    • Re-enable clang-tidy check performance-unnecessary-value-param (#1703)

    * Fix clang-tidy issues (#1706) Co-authored-by: Henning Kayser <<henningkayser@picknik.ai>> Co-authored-by: Robert Haschke <<rhaschke@users.noreply.github.com>>

  • Contributors: AndyZe, Chris Thrasher, Robert Haschke, mergify[bot]

2.5.4 (2022-11-04)

  • [Servo] Remove the option for "stop distance"-based collision checking (#1574) (#1663) (cherry picked from commit e96004702bbd338a08340eab0985fd04c74968fa) Co-authored-by: AndyZe <<zelenak@picknik.ai>>
  • [Servo] Use a WallRate so the clock is monotonically increasing (#1543) (#1658) (cherry picked from commit c134d89710e831ae58a66e53d87a78b44b0b307c) Co-authored-by: AndyZe <<zelenak@picknik.ai>>
  • Disable flaky test_servo_singularity + test_rdf_integration (#1530) (#1654) (cherry picked from commit f7655df7a439069565efa0de73c08e9d1dd45dde) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>
  • Enforce singularity threshold when moving away from a singularity (#620) (#1649)
  • Improve CMake usage (#1550) (#1555) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>
  • Remove __has_include statements

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.14.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 🤖 MoveIt for ROS 2
Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2025-08-10
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak
  • Tyler Weaver
  • Henning Kayser

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver
  • Adam Pettinger

MoveIt Servo

See the Realtime Arm Servoing Tutorial for installation instructions, quick-start guide, an overview about moveit_servo, and to learn how to set it up on your robot.

CHANGELOG

Changelog for package moveit_servo

2.14.0 (2025-06-13)

  • Remove gripper_controllers dependency (#3474)
  • Contributors: Felix Exner (fexner)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

  • Minor typo fix in simulated Panda servo config (#3444)
  • Fix Servo JointJog Crash (#3351)
  • Contributors: Gautham Sam, Matthew Foran

2.13.0 (2025-02-15)

  • Update current state even if servo is paused (#3341)
  • Update robot state if time since last command exceeds timeout (#3251)
  • Fix docstring for Servo smoothHalt function (#3298)
  • servo_keyboard_input: Add Windows support (#3290)
  • Servo Node - pause service: check if request is different than current state. (#3265)
  • Reduce mutex scope in Servo thread (#3259)
  • Update includes for generate_parameter_library 0.4.0 (#3255)
  • Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp (#3139)
  • Contributors: Henning Kayser, Jelmer de Wolde, Kazuya Oguma, Paul Gesel, Sebastian Castro, Silvio Traversaro

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)
  • [moveit_servo] avoid race condition when calling ~/pause_servo (#3059)
  • Cleanup #3056 (#3058)
  • Wait for nonzero joint states in PSM in Servo CPP integration test (#3056)
  • [moveit_servo] fix: ensure ee_pose on planning_frame (#3046)
  • set filter state when no commands (#3027)
  • Obtain time from node. (#3032)
  • [Servo] Use velocity scaling properly in Cartesian and pose tracking commands (#3007)
  • Contributors: Dongya Jiang, Jelmer de Wolde, Paul Gesel, Robert Haschke, Sebastian Castro, Tom Noble

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)

    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)

  • Fix error message text in servo.cpp (#2769)

  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 2.14.0
License BSD-3-Clause
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description 🤖 MoveIt for ROS 2
Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version main
Last Updated 2025-08-10
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak
  • Tyler Weaver
  • Henning Kayser

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver
  • Adam Pettinger

MoveIt Servo

See the Realtime Arm Servoing Tutorial for installation instructions, quick-start guide, an overview about moveit_servo, and to learn how to set it up on your robot.

CHANGELOG

Changelog for package moveit_servo

2.14.0 (2025-06-13)

  • Remove gripper_controllers dependency (#3474)
  • Contributors: Felix Exner (fexner)

2.13.2 (2025-04-16)

2.13.1 (2025-04-15)

  • Minor typo fix in simulated Panda servo config (#3444)
  • Fix Servo JointJog Crash (#3351)
  • Contributors: Gautham Sam, Matthew Foran

2.13.0 (2025-02-15)

  • Update current state even if servo is paused (#3341)
  • Update robot state if time since last command exceeds timeout (#3251)
  • Fix docstring for Servo smoothHalt function (#3298)
  • servo_keyboard_input: Add Windows support (#3290)
  • Servo Node - pause service: check if request is different than current state. (#3265)
  • Reduce mutex scope in Servo thread (#3259)
  • Update includes for generate_parameter_library 0.4.0 (#3255)
  • Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp (#3139)
  • Contributors: Henning Kayser, Jelmer de Wolde, Kazuya Oguma, Paul Gesel, Sebastian Castro, Silvio Traversaro

2.12.0 (2024-11-29)

  • Enhancement/use hpp for headers (#3113)
  • [moveit_servo] avoid race condition when calling ~/pause_servo (#3059)
  • Cleanup #3056 (#3058)
  • Wait for nonzero joint states in PSM in Servo CPP integration test (#3056)
  • [moveit_servo] fix: ensure ee_pose on planning_frame (#3046)
  • set filter state when no commands (#3027)
  • Obtain time from node. (#3032)
  • [Servo] Use velocity scaling properly in Cartesian and pose tracking commands (#3007)
  • Contributors: Dongya Jiang, Jelmer de Wolde, Paul Gesel, Robert Haschke, Sebastian Castro, Tom Noble

2.11.0 (2024-09-16)

  • Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970)
  • Implement realtime Ruckig jerk-limited smoothing (#2956)
  • Ensure the robot state is up-to-date before Servoing (#2954)
  • Correctly load smoothing plugins in Servo integration tests (#2965)
  • Small fixes to flaky MoveIt Servo integration tests (#2962)
  • Tune Servo params so it does not get stuck so easily (#2939)
  • Contributors: AndyZe, Sebastian Castro

2.10.0 (2024-06-13)

  • Migrate ros-planning org to moveit (#2847)

    • Rename github.com/ros-planning -> github.com/moveit
    • Rename ros-planning.github.io -> moveit.github.io
    • Rename ros-planning organization in docker and CI workflow files
    • ghcr.io/ros-planning -> ghcr.io/moveit
    • github.repository == 'moveit/*''
  • remove intraprocess comm warning (#2752)

  • Fix error message text in servo.cpp (#2769)

  • Fix launch parameters in Servo demos (#2735) Co-authored-by: Sebastian Jahr <<sebastian.jahr@picknik.ai>>

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.0.11
License BSD 3-Clause
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description 🤖 The MoveIt motion planning framework
Checkout URI https://github.com/ros-planning/moveit.git
VCS Type git
VCS Version melodic-devel
Last Updated 2022-09-13
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver

Moveit Servo

Quick Start Guide for UR5 example

Clone the universal_robot repo into your catkin workspace:

git clone https://github.com/ros-industrial/universal_robot.git

Run rosdep install from the src folder to install dependencies.

rosdep install --from-paths . --ignore-src -y

Build and subsequently source the catkin workspace. Startup the robot and MoveIt:

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.

Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.

rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"

Launch the servo node. This example uses commands from a SpaceNavigator joystick-like device:

roslaunch moveit_servo spacenav_cpp.launch

If you dont have a SpaceNavigator, send commands like this:

rostopic pub -r 100 /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
twist:
  linear:
    x: 0.0
    y: 0.01
    z: -0.01
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

If you see a warning about “close to singularity”, try changing the direction of motion.

Running Tests

Run tests from the moveit_servo folder:

catkin run_tests --no-deps --this
CHANGELOG

Changelog for package moveit_servo

1.0.11 (2022-09-13)

1.0.10 (2022-03-06)

1.0.9 (2022-01-09)

  • Fix an off-by-one error in servo_calcs.cpp (#2908)
  • Contributors: Michael Görner

1.0.8 (2021-05-23)

  • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
  • Halt Servo command on Pose Tracking stop (#2501)
  • stop_requested_ flag clearing fix (#2537)
  • Refactor Servo velocity bounds enforcement (#2471)
  • Protect paused_ flag, for thread safety (#2494)
  • Do not break out of loop -- need to update low pass filters (#2496)
  • Fix initial angle error is always 0 (#2464)
  • Add an important sleep in Servo pose tracking (#2463)
  • Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
  • Low latency mode (#2401)
  • Move timer initialization down to fix potential race condition
  • Fix pose tracking race condition (#2395)
  • Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Michael Görner, Nathan Brooks, Tyler Weaver, parunapu

1.0.7 (2020-11-20)

  • [feature] Cleanup current state handling in servo (#2372)
  • [feature] Servo namespacing logic (#2354)
  • [feature] A library for servoing toward a moving pose (#2203)
  • [feature] Refactor velocity limit enforcement and add a unit test (#2260)
  • [feature] Add a utility to print collision pairs (#2275)
  • [feature] Update last_sent_command_ at ServoCalcs start (#2249)
  • [fix] Fix servo trajectory point timestamping (#2375)
  • [fix] Fix ordering of windup args to control_toolbox::Pid (#2370)
  • [fix] Fix Servo thread interruption (#2314)
  • [fix] Servo heap-buffer-overflow bug (#2307)
  • [maint] add soname version to moveit_servo (#2266)
  • Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Nathan Brooks, Robert Haschke, Tyler Weaver

1.0.6 (2020-08-19)

  • [feature] A ROS service to reset the Servo status (#2246)
  • [feature] Check collisions during joint motions, too (#2204)
  • [fix] Correctly set velocities to zero when stale (#2255)
  • [maint] Remove unused yaml param (#2232)
  • [maint] Adapt repository for splitted moveit_resources layout (#2199)
  • [maint] Migrate to clang-format-10
  • Contributors: AndyZe, Robert Haschke, Ruofan Xu, Michael Görner

1.0.5 (2020-07-08)

  • [maint] Minor moveit_servo header cleanup (#2173)
  • [maint] Move and rename to moveit_ros/moveit_servo (#2165)
  • [maint] Changes before porting to ROS2 (#2151)
    • throttle warning logs
    • ROS1 Basic improvements and changes
    • Fixes to drift dimensions, singularity velocity scaling
    • tf name changes, const fixes, slight logic changes
    • Move ROS_LOG_THROTTLE_PERIOD to cpp files
    • Track staleness of joint and twist seperately
    • Ensure joint_trajectory output is always populated with something, even when no jog
    • Fix joint trajectory redundant points for gazebo pub

File truncated at 100 lines see the full file

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.1.16
License BSD 3-Clause
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description 🤖 The MoveIt motion planning framework
Checkout URI https://github.com/ros-planning/moveit.git
VCS Type git
VCS Version master
Last Updated 2025-08-08
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Provides real-time manipulator Cartesian and joint servoing.

Additional Links

Maintainers

  • Blake Anderson
  • Andy Zelenak

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver

MoveIt Servo

Quick Start Guide for UR5 example

Clone the universal_robot repo into your catkin workspace:

git clone https://github.com/ros-industrial/universal_robot.git

Run rosdep install from the src folder to install dependencies.

rosdep install --from-paths . --ignore-src -y

Build and subsequently source the catkin workspace. Startup the robot and MoveIt:

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.

Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.

rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"

Launch the servo node. This example uses commands from a SpaceNavigator joystick-like device:

roslaunch moveit_servo spacenav_cpp.launch

If you dont have a SpaceNavigator, send commands like this:

rostopic pub -r 100 /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
twist:
  linear:
    x: 0.0
    y: 0.01
    z: -0.01
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

If you see a warning about “close to singularity”, try changing the direction of motion.

Running Tests

Run tests from the moveit_servo folder:

catkin run_tests --no-deps --this
CHANGELOG

Changelog for package moveit_servo

1.1.16 (2024-10-07)

1.1.15 (2024-09-09)

  • Init joint trajectory with actual robot pose (#3642)
  • Use ACM consistently (#3641)
  • Contributors: Davide Torielli, Michael Görner

1.1.14 (2024-05-27)

1.1.13 (2023-07-28)

1.1.12 (2023-05-13)

  • Simplify servo config + reusable launch files (#3326)
  • Contributors: Robert Haschke

1.1.11 (2022-12-21)

1.1.10 (2022-09-13)

1.1.9 (2022-03-06)

1.1.8 (2022-01-30)

1.1.7 (2021-12-31)

1.1.6 (2021-11-06)

  • Backport position limit enforcement from MoveIt2 (#2898)
  • Use newly introduced cmake macro moveit_build_options() from moveit_core
  • Minor fixups (#2759)
  • Remove gtest include from non-testing source (#2747)
  • Fix an off-by-one error in servo_calcs.cpp (#2740)
  • Refactor moveit_servo::LowPassFilter to be assignable (#2722)
  • Contributors: Griswald Brooks, Michael Görner, Michael Wiznitzer, Robert Haschke, luisrayas3, toru-kuga

1.1.5 (2021-05-23)

1.1.4 (2021-05-12)

1.1.3 (2021-04-29)

  • Avoid joint jump when SuddenHalt() is called in velocity mode (#2594)
  • Contributors: Nathan Brooks

1.1.2 (2021-04-08)

  • Fix formatting errors
  • Halt Servo command on Pose Tracking stop (#2501)
  • stop_requested_ flag clearing fix (#2537)
  • Add missing include (#2519)
  • Refactor Servo velocity bounds enforcement (#2471)
  • Protect paused_ flag, for thread safety (#2494)
  • Do not break out of loop -- need to update low pass filters (#2496)
  • Fix initial angle error is always 0 (#2464)
  • Add an important sleep in Servo pose tracking (#2463)
  • Prevent moveit_servo transforms between fixed frames from causing timeout (#2418)
  • Low latency mode (#2401)
  • Move timer initialization down to fix potential race condition
  • Fix pose tracking race condition (#2395)
  • Cleanup current state handling in servo (#2372)
  • Change servo namespacing logic (#2354)
  • Fix servo trajectory point timestamping (#2375)
  • Fix ordering of windup args to control_toolbox::Pid (#2370)
  • Contributors: AdamPettinger, AndyZe, Jere Liukkonen, Michael Görner, Nathan Brooks, Tyler Weaver, parunapu

1.1.1 (2020-10-13)

  • [feature] A library for servoing toward a moving pose

File truncated at 100 lines see the full file

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_servo at Robotics Stack Exchange