ROS Index
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
Core libraries used by MoveIt
Additional Links
Maintainers
- Henning Kayser
- Tyler Weaver
- Michael Görner
- MoveIt Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
- Dave Coleman
MoveIt Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
2.14.0 (2025-06-13)
- Fix seg fault with attached objects during motion execution (#3466)
- Contributors: Marq Rasmussen
2.13.2 (2025-04-16)
2.13.1 (2025-04-15)
- Make the destructors of the base classes of planning adapters virtual and close move_group gracefully (#3435)
- fix: ensure attached objects update during motion execution (#3327)
- Contributors: Cihat Kurtuluş Altıparmak, Marco Magri
2.13.0 (2025-02-15)
- Reverts #2985, Ports moveit #3388 #3470 #3539 (#3284)
- Add missing target dependencies to eigen_stl_containers (#3295)
- Support including the names of other attached objects in [touch_link]{.title-ref} (#3276)
- Fix: misleading error logs in RobotState::setFromIKSubgroups() (#3263)
- Update includes for generate_parameter_library 0.4.0 (#3255)
- Remove plugins from export set (#3227)
- [Issue-879] Add const specifier to moveit_core (#3202)
- Don't destroy objects on attach (#3205)
- Update deprecated tf2 imports from .h to .hpp (#3197)
- Remove ACM entries when removing collision objects (#3183)
- handle continuous joints in getLowerAndUpperLimits (#3153)
- Contributors: Aleksey Nogin, Jafar Uruç, Mario Prats, Mark Johnson, Marq Rasmussen, Michael Görner, Paul Gesel, Sebastian Castro, Robert Haschke, Zhong Jin, gayar
2.12.0 (2024-11-29)
- Enhancement/use hpp for headers (#3113)
- Removes unused deprecation.h file (#3128)
- Add use_padding flag + deprecate checkCollisionUnpadded() functions (#3088)
- Fixes flaky RobotState test (#3105)
- Allow RobotState::setFromIK to work with subframes (#3077)
- Fix jacobian calculation (#3069)
- Port fixes for handling orientation constraints (#3052)
- Fix createTrajectoryMessage (#3064)
- Fix flipped comments in [joint_model.h]{.title-ref} (#3047)
- add helper function to load robot from package name + urdf + srdf (#3039)
- Fix Cartesian interpolation (#3020)
- Update urdf/model.h -> urdf/model.hpp (#3003)
- Contributors: Mario Prats, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tom Noble
2.11.0 (2024-09-16)
- Fix RobotState::getRigidlyConnectedParentLinkModel() (#2985)
- Implement realtime Ruckig jerk-limited smoothing (#2956)
- New implementation for computeCartesianPath() (#2916)
- Don't set reset observer callback & set CB after world_ is initialized (#2950)
- Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943)
- Optimize MOVE_SHAPE operations for FCL (#3601)
- Allow moving of all shapes of an object in one go (#3599)
- Silent "empty quaternion" warning from poseMsgToEigen() (#3435)
- Propagate "clear octomap" actions to monitoring planning scenes
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged moveit_core 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
Core libraries used by MoveIt
Additional Links
Maintainers
- Henning Kayser
- Tyler Weaver
- Michael Görner
- MoveIt Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
- Dave Coleman
MoveIt Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
2.14.0 (2025-06-13)
- Fix seg fault with attached objects during motion execution (#3466)
- Contributors: Marq Rasmussen
2.13.2 (2025-04-16)
2.13.1 (2025-04-15)
- Make the destructors of the base classes of planning adapters virtual and close move_group gracefully (#3435)
- fix: ensure attached objects update during motion execution (#3327)
- Contributors: Cihat Kurtuluş Altıparmak, Marco Magri
2.13.0 (2025-02-15)
- Reverts #2985, Ports moveit #3388 #3470 #3539 (#3284)
- Add missing target dependencies to eigen_stl_containers (#3295)
- Support including the names of other attached objects in [touch_link]{.title-ref} (#3276)
- Fix: misleading error logs in RobotState::setFromIKSubgroups() (#3263)
- Update includes for generate_parameter_library 0.4.0 (#3255)
- Remove plugins from export set (#3227)
- [Issue-879] Add const specifier to moveit_core (#3202)
- Don't destroy objects on attach (#3205)
- Update deprecated tf2 imports from .h to .hpp (#3197)
- Remove ACM entries when removing collision objects (#3183)
- handle continuous joints in getLowerAndUpperLimits (#3153)
- Contributors: Aleksey Nogin, Jafar Uruç, Mario Prats, Mark Johnson, Marq Rasmussen, Michael Görner, Paul Gesel, Sebastian Castro, Robert Haschke, Zhong Jin, gayar
2.12.0 (2024-11-29)
- Enhancement/use hpp for headers (#3113)
- Removes unused deprecation.h file (#3128)
- Add use_padding flag + deprecate checkCollisionUnpadded() functions (#3088)
- Fixes flaky RobotState test (#3105)
- Allow RobotState::setFromIK to work with subframes (#3077)
- Fix jacobian calculation (#3069)
- Port fixes for handling orientation constraints (#3052)
- Fix createTrajectoryMessage (#3064)
- Fix flipped comments in [joint_model.h]{.title-ref} (#3047)
- add helper function to load robot from package name + urdf + srdf (#3039)
- Fix Cartesian interpolation (#3020)
- Update urdf/model.h -> urdf/model.hpp (#3003)
- Contributors: Mario Prats, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tom Noble
2.11.0 (2024-09-16)
- Fix RobotState::getRigidlyConnectedParentLinkModel() (#2985)
- Implement realtime Ruckig jerk-limited smoothing (#2956)
- New implementation for computeCartesianPath() (#2916)
- Don't set reset observer callback & set CB after world_ is initialized (#2950)
- Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943)
- Optimize MOVE_SHAPE operations for FCL (#3601)
- Allow moving of all shapes of an object in one go (#3599)
- Silent "empty quaternion" warning from poseMsgToEigen() (#3435)
- Propagate "clear octomap" actions to monitoring planning scenes
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged moveit_core 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
Core libraries used by MoveIt
Additional Links
Maintainers
- Henning Kayser
- Tyler Weaver
- Michael Görner
- MoveIt Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
- Dave Coleman
MoveIt Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
2.14.0 (2025-06-13)
- Fix seg fault with attached objects during motion execution (#3466)
- Contributors: Marq Rasmussen
2.13.2 (2025-04-16)
2.13.1 (2025-04-15)
- Make the destructors of the base classes of planning adapters virtual and close move_group gracefully (#3435)
- fix: ensure attached objects update during motion execution (#3327)
- Contributors: Cihat Kurtuluş Altıparmak, Marco Magri
2.13.0 (2025-02-15)
- Reverts #2985, Ports moveit #3388 #3470 #3539 (#3284)
- Add missing target dependencies to eigen_stl_containers (#3295)
- Support including the names of other attached objects in [touch_link]{.title-ref} (#3276)
- Fix: misleading error logs in RobotState::setFromIKSubgroups() (#3263)
- Update includes for generate_parameter_library 0.4.0 (#3255)
- Remove plugins from export set (#3227)
- [Issue-879] Add const specifier to moveit_core (#3202)
- Don't destroy objects on attach (#3205)
- Update deprecated tf2 imports from .h to .hpp (#3197)
- Remove ACM entries when removing collision objects (#3183)
- handle continuous joints in getLowerAndUpperLimits (#3153)
- Contributors: Aleksey Nogin, Jafar Uruç, Mario Prats, Mark Johnson, Marq Rasmussen, Michael Görner, Paul Gesel, Sebastian Castro, Robert Haschke, Zhong Jin, gayar
2.12.0 (2024-11-29)
- Enhancement/use hpp for headers (#3113)
- Removes unused deprecation.h file (#3128)
- Add use_padding flag + deprecate checkCollisionUnpadded() functions (#3088)
- Fixes flaky RobotState test (#3105)
- Allow RobotState::setFromIK to work with subframes (#3077)
- Fix jacobian calculation (#3069)
- Port fixes for handling orientation constraints (#3052)
- Fix createTrajectoryMessage (#3064)
- Fix flipped comments in [joint_model.h]{.title-ref} (#3047)
- add helper function to load robot from package name + urdf + srdf (#3039)
- Fix Cartesian interpolation (#3020)
- Update urdf/model.h -> urdf/model.hpp (#3003)
- Contributors: Mario Prats, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tom Noble
2.11.0 (2024-09-16)
- Fix RobotState::getRigidlyConnectedParentLinkModel() (#2985)
- Implement realtime Ruckig jerk-limited smoothing (#2956)
- New implementation for computeCartesianPath() (#2916)
- Don't set reset observer callback & set CB after world_ is initialized (#2950)
- Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943)
- Optimize MOVE_SHAPE operations for FCL (#3601)
- Allow moving of all shapes of an object in one go (#3599)
- Silent "empty quaternion" warning from poseMsgToEigen() (#3435)
- Propagate "clear octomap" actions to monitoring planning scenes
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged moveit_core 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
Core libraries used by MoveIt
Additional Links
Maintainers
- Henning Kayser
- Tyler Weaver
- Michael Görner
- MoveIt Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
- Dave Coleman
MoveIt Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
2.14.0 (2025-06-13)
- Fix seg fault with attached objects during motion execution (#3466)
- Contributors: Marq Rasmussen
2.13.2 (2025-04-16)
2.13.1 (2025-04-15)
- Make the destructors of the base classes of planning adapters virtual and close move_group gracefully (#3435)
- fix: ensure attached objects update during motion execution (#3327)
- Contributors: Cihat Kurtuluş Altıparmak, Marco Magri
2.13.0 (2025-02-15)
- Reverts #2985, Ports moveit #3388 #3470 #3539 (#3284)
- Add missing target dependencies to eigen_stl_containers (#3295)
- Support including the names of other attached objects in [touch_link]{.title-ref} (#3276)
- Fix: misleading error logs in RobotState::setFromIKSubgroups() (#3263)
- Update includes for generate_parameter_library 0.4.0 (#3255)
- Remove plugins from export set (#3227)
- [Issue-879] Add const specifier to moveit_core (#3202)
- Don't destroy objects on attach (#3205)
- Update deprecated tf2 imports from .h to .hpp (#3197)
- Remove ACM entries when removing collision objects (#3183)
- handle continuous joints in getLowerAndUpperLimits (#3153)
- Contributors: Aleksey Nogin, Jafar Uruç, Mario Prats, Mark Johnson, Marq Rasmussen, Michael Görner, Paul Gesel, Sebastian Castro, Robert Haschke, Zhong Jin, gayar
2.12.0 (2024-11-29)
- Enhancement/use hpp for headers (#3113)
- Removes unused deprecation.h file (#3128)
- Add use_padding flag + deprecate checkCollisionUnpadded() functions (#3088)
- Fixes flaky RobotState test (#3105)
- Allow RobotState::setFromIK to work with subframes (#3077)
- Fix jacobian calculation (#3069)
- Port fixes for handling orientation constraints (#3052)
- Fix createTrajectoryMessage (#3064)
- Fix flipped comments in [joint_model.h]{.title-ref} (#3047)
- add helper function to load robot from package name + urdf + srdf (#3039)
- Fix Cartesian interpolation (#3020)
- Update urdf/model.h -> urdf/model.hpp (#3003)
- Contributors: Mario Prats, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tom Noble
2.11.0 (2024-09-16)
- Fix RobotState::getRigidlyConnectedParentLinkModel() (#2985)
- Implement realtime Ruckig jerk-limited smoothing (#2956)
- New implementation for computeCartesianPath() (#2916)
- Don't set reset observer callback & set CB after world_ is initialized (#2950)
- Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943)
- Optimize MOVE_SHAPE operations for FCL (#3601)
- Allow moving of all shapes of an object in one go (#3599)
- Silent "empty quaternion" warning from poseMsgToEigen() (#3435)
- Propagate "clear octomap" actions to monitoring planning scenes
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged moveit_core at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.0.1 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Core libraries used by MoveIt
Additional Links
Maintainers
- Dave Coleman
- Michael Görner
- Michael Ferguson
- MoveIt Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
MoveIt Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
1.0.1 (2019-03-08)
- [capability] Graphically print current robot joint states with joint limits (#1358)
- [improve] Apply clang tidy fix to entire code base (Part 1) (#1366)
- Contributors: Dave Coleman, Robert Haschke, Yu, Yan
1.0.0 (2019-02-24)
- [fix] catkin_lint issues (#1341)
- [fix] invert waypoint velocities on reverse (#1335)
- [fix] Added missing robot state update to iterative spline parameterization to prevent warnings. (#1298)
- [fix] robot_model_test_utils depends on message generation (#1286)
- [improve] cleanup LMA kinematics solver #1318
- [improve] Remove (redundant) random seeding and #attempts from RobotState::setFromIK() as the IK solver perform random seeding themselves. #1288
- [improve] Make FCL shape cache thread-local (#1316)
- [improve] Kinematics tests, kdl cleanup #1272, #1294
- [maintenance] Add coverage analysis for moveit_core (#1133)
- [improve] computeCartesianPath: limit joint-space jumps with IK consistency limits (#1293)
- Contributors: Alexander Gutenkunst, Dave Coleman, Jonathan Binney, Martin Oehler, Michael Görner, Mike Lautman, Robert Haschke, Simon Schmeisser
0.10.8 (2018-12-24)
- [enhancement] Tool to generate constraint approximation databases (#1253)
- [fix] Fixed uninitialized RobotState transforms (#1271)
- Contributors: Michael Görner, Robert Haschke
0.10.7 (2018-12-13)
0.10.6 (2018-12-09)
- [fix] Fixed various memory leaks (#1104)
- [fix] Fixed computation of Jacobian for prismatic joints (#1192)
- [enhancement] Add support for FCL 0.6 (#1156)
- [enhancement] Pass RobotModel to IK, avoiding multiple loading (#1166)
- [enhancement] RobotTrajectory: Allow appending part of other trajectory (#1213)
- [maintenance] Rearranged CHOMP-related modules within moveit_planners/chomp (#1251)
- [maintenance] Replaced Eigen::Affine3d -> Eigen::Isometry3d (#1096)
- [maintenance] Use C++14 (#1146)
- [maintenance] Code Cleanup
- [maintenance] RobotModelBuilder to facilitate testing (#1176)
- Contributors: Robert Haschke, 2scholz, Alex Moriarty, Bryce Willey, Dave Coleman, Immanuel Martini, Michael Görner, Milutin Nikolic
0.10.5 (2018-11-01)
0.10.4 (2018-10-29)
0.10.3 (2018-10-29)
- [fix] compiler warnings (#1089)
- [code] cleanup (#1107, #1099, #1108)
- Contributors: Robert Haschke, Simon Schmeisser
0.10.2 (2018-10-24)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged moveit_core 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
Core libraries used by MoveIt
Additional Links
Maintainers
- Henning Kayser
- Tyler Weaver
- Michael Görner
- MoveIt Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
- Dave Coleman
MoveIt Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
2.14.0 (2025-06-13)
- Fix seg fault with attached objects during motion execution (#3466)
- Contributors: Marq Rasmussen
2.13.2 (2025-04-16)
2.13.1 (2025-04-15)
- Make the destructors of the base classes of planning adapters virtual and close move_group gracefully (#3435)
- fix: ensure attached objects update during motion execution (#3327)
- Contributors: Cihat Kurtuluş Altıparmak, Marco Magri
2.13.0 (2025-02-15)
- Reverts #2985, Ports moveit #3388 #3470 #3539 (#3284)
- Add missing target dependencies to eigen_stl_containers (#3295)
- Support including the names of other attached objects in [touch_link]{.title-ref} (#3276)
- Fix: misleading error logs in RobotState::setFromIKSubgroups() (#3263)
- Update includes for generate_parameter_library 0.4.0 (#3255)
- Remove plugins from export set (#3227)
- [Issue-879] Add const specifier to moveit_core (#3202)
- Don't destroy objects on attach (#3205)
- Update deprecated tf2 imports from .h to .hpp (#3197)
- Remove ACM entries when removing collision objects (#3183)
- handle continuous joints in getLowerAndUpperLimits (#3153)
- Contributors: Aleksey Nogin, Jafar Uruç, Mario Prats, Mark Johnson, Marq Rasmussen, Michael Görner, Paul Gesel, Sebastian Castro, Robert Haschke, Zhong Jin, gayar
2.12.0 (2024-11-29)
- Enhancement/use hpp for headers (#3113)
- Removes unused deprecation.h file (#3128)
- Add use_padding flag + deprecate checkCollisionUnpadded() functions (#3088)
- Fixes flaky RobotState test (#3105)
- Allow RobotState::setFromIK to work with subframes (#3077)
- Fix jacobian calculation (#3069)
- Port fixes for handling orientation constraints (#3052)
- Fix createTrajectoryMessage (#3064)
- Fix flipped comments in [joint_model.h]{.title-ref} (#3047)
- add helper function to load robot from package name + urdf + srdf (#3039)
- Fix Cartesian interpolation (#3020)
- Update urdf/model.h -> urdf/model.hpp (#3003)
- Contributors: Mario Prats, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tom Noble
2.11.0 (2024-09-16)
- Fix RobotState::getRigidlyConnectedParentLinkModel() (#2985)
- Implement realtime Ruckig jerk-limited smoothing (#2956)
- New implementation for computeCartesianPath() (#2916)
- Don't set reset observer callback & set CB after world_ is initialized (#2950)
- Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943)
- Optimize MOVE_SHAPE operations for FCL (#3601)
- Allow moving of all shapes of an object in one go (#3599)
- Silent "empty quaternion" warning from poseMsgToEigen() (#3435)
- Propagate "clear octomap" actions to monitoring planning scenes
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged moveit_core 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
Core libraries used by MoveIt
Additional Links
Maintainers
- Henning Kayser
- Tyler Weaver
- Michael Görner
- MoveIt Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
- Dave Coleman
MoveIt Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
2.14.0 (2025-06-13)
- Fix seg fault with attached objects during motion execution (#3466)
- Contributors: Marq Rasmussen
2.13.2 (2025-04-16)
2.13.1 (2025-04-15)
- Make the destructors of the base classes of planning adapters virtual and close move_group gracefully (#3435)
- fix: ensure attached objects update during motion execution (#3327)
- Contributors: Cihat Kurtuluş Altıparmak, Marco Magri
2.13.0 (2025-02-15)
- Reverts #2985, Ports moveit #3388 #3470 #3539 (#3284)
- Add missing target dependencies to eigen_stl_containers (#3295)
- Support including the names of other attached objects in [touch_link]{.title-ref} (#3276)
- Fix: misleading error logs in RobotState::setFromIKSubgroups() (#3263)
- Update includes for generate_parameter_library 0.4.0 (#3255)
- Remove plugins from export set (#3227)
- [Issue-879] Add const specifier to moveit_core (#3202)
- Don't destroy objects on attach (#3205)
- Update deprecated tf2 imports from .h to .hpp (#3197)
- Remove ACM entries when removing collision objects (#3183)
- handle continuous joints in getLowerAndUpperLimits (#3153)
- Contributors: Aleksey Nogin, Jafar Uruç, Mario Prats, Mark Johnson, Marq Rasmussen, Michael Görner, Paul Gesel, Sebastian Castro, Robert Haschke, Zhong Jin, gayar
2.12.0 (2024-11-29)
- Enhancement/use hpp for headers (#3113)
- Removes unused deprecation.h file (#3128)
- Add use_padding flag + deprecate checkCollisionUnpadded() functions (#3088)
- Fixes flaky RobotState test (#3105)
- Allow RobotState::setFromIK to work with subframes (#3077)
- Fix jacobian calculation (#3069)
- Port fixes for handling orientation constraints (#3052)
- Fix createTrajectoryMessage (#3064)
- Fix flipped comments in [joint_model.h]{.title-ref} (#3047)
- add helper function to load robot from package name + urdf + srdf (#3039)
- Fix Cartesian interpolation (#3020)
- Update urdf/model.h -> urdf/model.hpp (#3003)
- Contributors: Mario Prats, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tom Noble
2.11.0 (2024-09-16)
- Fix RobotState::getRigidlyConnectedParentLinkModel() (#2985)
- Implement realtime Ruckig jerk-limited smoothing (#2956)
- New implementation for computeCartesianPath() (#2916)
- Don't set reset observer callback & set CB after world_ is initialized (#2950)
- Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943)
- Optimize MOVE_SHAPE operations for FCL (#3601)
- Allow moving of all shapes of an object in one go (#3599)
- Silent "empty quaternion" warning from poseMsgToEigen() (#3435)
- Propagate "clear octomap" actions to monitoring planning scenes
File truncated at 100 lines see the full file
Package Dependencies
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No launch files found
Messages
No message files found.
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No plugins found.
Recent questions tagged moveit_core at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.0.11 |
| License | BSD |
| 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
Core libraries used by MoveIt!
Additional Links
Maintainers
- Dave Coleman
- Michael Görner
- Michael Ferguson
- MoveIt! Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
MoveIt! Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
1.0.11 (2022-09-13)
1.0.10 (2022-03-06)
- Add Ptr definitions for TimeParameterization classes (#3078)
- Contributors: Michael Görner
1.0.9 (2022-01-09)
- Use moveit-resources@master
(#2951)
- Simplify launch files to use the test_environment.launch files from moveit_resources@master
- Provide compatibility to the Noetic-style configuration of (multiple) planning pipelines Only a single pipeline can be used at a time, specified via the ~default_planning_pipeline parameter.
- Make TimeParameterization classes polymorphic (#3023)
- Move
MoveItErrorCodeclass tomoveit_core(#3009) - Provide
MOVEIT_VERSION_CHECKmacro (#2997) - Fix padding collision attached objects (#2721)
- Contributors: Michael Görner, Robert Haschke, Toru Kuga, Andrea Pupa
1.0.8 (2021-05-23)
- RobotState interpolation: warn if interpolation parameter is out of range [0, 1] (#2664)
- Python bindings for moveit_core (#2547 / #2651)
- New function setJointGroupActivePositions sets the position of active joints (#2456)
- Set rotation value of Cartesian MaxEEFStep by default (#2614)
- Make setToIKSolverFrame accessible again (#2580)
- Add get_active_joint_names() (#2533)
- Update doxygen comments for distance() and interpolate() (#2528)
- Clean up collision-related log statements (#2480)
- Fix RobotState::dropAccelerations/dropEffort to not drop velocities (#2478)
- Fix doxygen documentation for setToIKSolverFrame (#2461)
- Fix validation of orientation constraints (#2434)
- Fix OrientationConstraint::decide (#2414)
- Changed processing_thread_ spin to use std::make_unique instead of new (#2412)
- RobotModelBuilder: Add parameter to specify the joint rotation axis
- RobotModelBuilder: Allow adding end effectors (#2454)
- Contributors: AndyZe, JafarAbdi, Michael Görner, Peter Mitrano, Robert Haschke, Simon Schmeisser, Stuart Anderson, Thomas G, Tyler Weaver, sevangelatos, John Stechschulte
1.0.7 (2020-11-20)
- [feature] Handle multiple link libraries for FCL (#2325)
- [feature] Add comment to MOVEIT_CLASS_FORWARD (#2315)
- [feature] Add a utility to print collision pairs (#2278) (#2275)
- [maint] Move constraint representation dox to moveit_tutorials (#2147)
- [maint] Update collision-related comments (#2382)
- Contributors: AndyZe, Dave Coleman, Felix von Drigalski, Ghenohenomohe, Robert Haschke
1.0.6 (2020-08-19)
- [maint] Adapt repository for splitted moveit_resources layout (#2199)
- [maint] Migrate to clang-format-10, Fix warnings
- [maint] Optimize includes (#2229)
- [maint] Fix docs in robot_state.h (#2215)
- Contributors: Jeroen, Markus Vieth, Michael Görner, Robert Haschke
1.0.5 (2020-07-08)
- [fix] Fix memory leaks related to geometric shapes usage (#2138)
- [fix] Prevent collision checking segfault if octomap has NULL root
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged moveit_core at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.1.16 |
| License | BSD |
| 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
Core libraries used by MoveIt
Additional Links
Maintainers
- Dave Coleman
- Michael Görner
- Michael Ferguson
- MoveIt Release Team
Authors
- Ioan Sucan
- Sachin Chitta
- Acorn Pooley
MoveIt Core
This repository includes core libraries used by MoveIt:
- representation of kinematic models
- collision detection interfaces and implementations
- interfaces for kinematic solver plugins
- interfaces for motion planning plugins
- interfaces for controllers and sensors
These libraries do not depend on ROS (except ROS messages) and can be used independently.
CHANGELOG
Changelog for package moveit_core
1.1.16 (2024-10-07)
- Fix Cartesian interpolation: for multiple waypoints continue from latest RobotState (#3652)
- Contributors: Robert Haschke
1.1.15 (2024-09-09)
- Disable ruckig's webclient support in MoveIt build (#3636)
- New implementation for computeCartesianPath (#3618)
- Optimize MOVE_SHAPE operations for FCL (#3601)
- Provide violated bounds for a JointConstraint
- PSM: Correctly handle full planning scene message (#3610)
- Contributors: Captain Yoshi, Michael Görner, Robert Haschke
1.1.14 (2024-05-27)
- Allow moving of all shapes of an object in one go (#3599)
- Add benchmark dependency in moveit_core's package.xml
- Benchmarking with Google benchmark (#3565)
- Cleanup const-ref arguments to double+int (#3560)
- Use min instead of multiplication to combine relative and absolute check (#3556)
- Find pybind11_catkin early (#3552)
- Allow links with slashes again (#3539)
- Support ompl::ompl cmake target (#3549)
- RobotState: Initialize joint transforms of fixed joints (#3541)
- Pass more distance information out from FCL collision check (#3531)
- Fix segfault when planning with differential drive planar joints (#3457)
- Consider distance field padding for spheres (#3506)
- Remove unused variables (#3507)
- Gracefully handle zero-size bodies in determineCollisionSpheres() (#3504)
- Use new API for providing RNG to make some test results more consistant (#3501)
- More URDF validation (#3499)
- PlanningRequestAdapterChain: Fix added_path_index vector (#3464)
- Constrain orocos_kdl to ROS melodic
- moveit_core: make angles a build_depend rather than a test_depend (#3483)
- Contributors: Ben Wolsieffer, Captain Yoshi, Hugal31, Lucas Walter, Michael Görner, Robert Haschke, SchneiderC1, Scott Chow, Simon Schmeisser, Stephanie Eng
1.1.13 (2023-07-28)
- Avoid global transforms in
getRigidlyConnectedParentLinkModel()(#3470)- RobotState::setFromIK: ensure up-to-date state before calling IK solver
- Remove unimplemented RobotState::getSubframeTransformInLinkFrame()
- Add missing include (#3451)
- Fix Jacobian calculation for planar joint (#3439)
- Silent "empty quaternion" warning from poseMsgToEigen() (#3435)
- Contributors: Cong Liu, Ivo Vatavuk, Robert Haschke
1.1.12 (2023-05-13)
- Generalize RobotState::setFromIK() (https://github.com/ros-planning/moveit/issues/3388)
- Time parameterization with torque limits, based on TOTG (#3412, #3427)
- Make XmlRpcValue arguments const references (#3419)
- Differential drive for planar Joints (#3359)
- Fix deprecation warnings in Debian bookworm (#3397)
- Add JointModel::satisfiesAccelerationBounds() (#3396)
- Add CSM tests (#3395)
- Fix TOTG: could return vels/accels greater than the limits (#3394)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
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Launch files
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Messages
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Services
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