Sebastian Jahr

Import target cmake error when using range-v3 as dependency

2

I've installed range-v3 via apt-get install on Ubuntu 20.04 and run into the following error when I try to build a project with [colcon](https://colcon.readthedocs.io/en/released/user/quick-start.html) that has multiple dependencies that depend...

Add planner configurations to CHOMP and PILZ

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### Description Right now it is not possible to use planners other than OMPL with the moveit_cpp interface. The reason for this is the following: When the plan() method of...

Parallel planning pipelines

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## Description This PR adds a first implementation of @mamoll proposal in #1200 to run multiple planning pipelines in parallel to improve the path quality through creating multiple solutions and...

Remove random_numbers dependency

2

### Description Depends on https://github.com/ros-planning/geometric_shapes/pull/223 This PR aims to remove the random number dependency from MoveIt2. To do so, the cpp std library `` is used directly. ~~Instead of the...

JointModelGroup should not be returned as raw pointer

5

Currently, the robot model class returns a raw pointer to the JointModelGroup [robot_model.cpp#L473](https://github.com/ros-planning/moveit2/blob/2de48a7aafacd45d4f9d4c667ff7337b1da31ddd/moveit_core/robot_model/src/robot_model.cpp#L473). I think it would be much safer to return a shared_ptr or a reference instead. This is...

I am using LazyPRM to plan paths with an octomap as collision object in the planning scene. Most of the time it works great! and I get good results within...

This epic contains a list of known issues with MoveIt 2 with a mark whether the issue has temporary fixes + workarounds. You can add new issues to this list,...

Replace PlanSolution with MotionPlanResponse

1

### Description This PR breaks the moveit_cpp API! ~~Two small additions for PlanningComponent.~~ Replace PlanSolution with MotionPlanResponse since both contain the same data. Related PR: [moveit2_tutorials#515](https://github.com/ros-planning/moveit2_tutorials/pull/515) should be merged right...

WIP: Benchmark parallel planning pipelines

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### Description Depends on #1420, #1542 and #1551. Fix and update benchmarks package + enable benchmarking of parallel plannig interface of moveit_cpp ### Checklist - [ ] **Required by CI**:...

Discuss some force-pushed changes

3

@rhaschke I have some questions around the changes you created on the ros2 branch. I'd like to use this PR to understand them better and potentially make some updates.