moveit

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Multi-controller trajectories are not canceled when one controller aborts.

2

### Description When executing multi-controller trajectories, if one controller aborts (e.g. due to a path constraint violation), the other controllers are not stopped. Example of use case: I have a...

Hugal31

Cartesian end effector speed setting (extension) (cleanup)

16

I just looked into #2674 some more and noticed an entirely unusable history trying to include the recent clang CI fix. The authors really did their best to make it...

v4hn

Pilz industrial motion planner ignores goal constraint frame_id

4

### Description Hi, I'm using pilz_industrial_motion_planner to plan some trajectories interfacing directly with it through some calls to /move_group action server. I noticed that if I plan with OMPL pipeline,...

nicola-sysdesign

Moveit servo with Universal_Robots_ROS: Very close to a singularity, emergency stop. Stale command. Try a larger 'incoming_command_timeout' parameter?

6

When I use moveit servo to control ur5 in gazebo and when i publish the twist according to the tutorial : https://ros-planning.github.io/moveit_tutorials/doc/realtime_servo/realtime_servo_tutorial.html. It will occur : NODES / servo_server (moveit_servo/servo_server)...

caimingxue

moveit_servo does not get planning scene updates from move_group by default

7

### Description `servo_server.cpp` from `moveit_servo` does not provide any arguments to `PlanningSceneMonitor::startSceneMonitor()` ([link to source](https://github.com/ros-planning/moveit/blob/noetic-devel/moveit_ros/moveit_servo/src/servo_server.cpp#L66 )). This means that it does not receive planning scene updates given via the service...

FSund

How does moveit load multiple planners and then select them online?

1

I observed that moveit seems to support switching planners, such as move_group.set_planning_pipeline_id, but I don't know how to configure the move_group.launch file to load multiple planning_pipelines in one move_group. Do...

cgdsss

Fcl combined collision check

11

This should speed up collision checks with FCL by not converting the RobotState to a FclCollisionManager (a BVH for example) up to four times but only once. This "conversion" includes...

simonschmeisser

GSoC 2022: Simultaneous Trajectory Execution

15

This issue is about the [GSoC 2022 project](https://summerofcode.withgoogle.com/programs/2022/projects/mpusZVc2) that I am working on with the guidance from @simonschmeisser and @v4hn. # Motivation and goals This project is motivated by the...

cambel

Native save/load file dialogs don't display when Gazebo is also running

6

### Description This originally came up in MoveIt Calibration (ros-planning/moveit_calibration#24), but it seems to be more general than that. If Gazebo is running, any time `QFileDialog::getOpenFileName` or `QFileDialog::getSaveFileName` is called,...

JStech

Moveit servo with custom end effector gives jerky movement on real robot (UR5e)

4

### Description I'm testing moveit servo with the actual Ur5e robot. The robot moves smooth when providing continuous constant velocity using the original URDF provided by Universal Robots (Velocity passed...

nihalar