Stephanie Eng

If PRM* fails, then we plan again --> segfault in StateValidityChecker

2

Similar to #929, when using MoveIt to plan using orientation constraints. Upon replanning, I get a different segfault than #929. Stack trace: ``` #0 ompl_interface::ConstrainedPlanningStateValidityChecker::isValid ( this=0x7fffc4272630, wrapped_state=0x7fffc5713d70, verbose=false) at...

Only require Cartesian limits if Pilz is used

1

### Description Attempt to solve https://github.com/ros-planning/moveit2/issues/1328 by checking if Pilz is being used before trying to load pilz_cartesian_limits.yaml. If Pilz is not being used, there shouldn't be a need to...

CHOMP optimizer exits after first iteration as collision-free

4

### Description I've been trying to use CHOMP to post-process some trajectories, but I found it was always exiting after the first iteration, despite having a collision cost over the...

Increase priority for constrained planning state space

2

### Description Depends on #1273 Increases the priority for using the constrained planning state space when there is exactly one position or orientation constraint. The current behaviour sets the priority...

Fix logic with enforcing constrained planning state space

3

### Description Fixes #1552, change to logic when enforcing constrained planning state space in the mixed constraint case. When running the constrained planning tutorial with: `ros2 launch moveit2_tutorials ompl_constrained_planning.launch.py` You...

abb_ros2_msgs

1

When/if abb_ros2_msgs is incorporated as rhe ros2 branch of https://github.com/ros-industrial/abb_robot_driver_interfaces, the link in the .repos file will need to be updated. https://github.com/ros-industrial/abb_robot_driver_interfaces/issues/4

EGM Control lag

1

`EGMManager.waitForMessage()` will sometimes take 15+ ms when trying to run with an update rate of 250 Hz (and `EGMActJoint` `SampleRate` of 4 ms). Using `EGMManager.read()` without `waitForMessage()` will sometimes result...

Planning failures while using Persistent PRM roadmap

1

### Description I tried to use PersistentPRM with a project and noticed no planning time improvements. When trying to replicate this issue with a less complex setup, I found expected...

Constrained motion planning requires projection evaluator to be set

5

### Description The user-specified projection evaluator is used to approximate the configuration space for some planners. It should not be required for OMPL constrained planning. However, when trying to use...