moveit_ros

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I'd like to continue the discussion started [here](https://github.com/ros-planning/moveit_plugins/pull/20#issuecomment-233427660) about the potential to fix the confusing concept of ControllerManager (CM) to simply ControllerInterface in MoveIt!. Almost all MoveIt! users we know...

davetcoleman

This is #597 for Jade. Adds a deprecation warning to max_range.

TheBrewCrew

Scene visualization won't work on rviz plugin after some joint trajectory execution

1

I've tried below code with moveit_commander, with [this launch file](https://github.com/wkentaro/fanuc_experimental/blob/wip/scene-wont-work-after-execution/fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch). The scene on rviz plugin appears before the trajectory execution with `move()`, but won't appear after the execution. The scene...

wkentaro

Set the start planning state as "current" after finish the execution of a trajectory

6

After executing a trajectory, if the user wants to plan a new trajectory, he needs to click on the GUI start planning state set as current, otherwise it takes the...

beatrizleon

Specifying the time for a goal is not possible

16

As stated in this thread: https://groups.google.com/forum/#!topic/moveit-users/J8Tdtut8P10 Some people are interested (myself included) in recovering the field where you could specify the time a plan should take like in move_arm.

awesomebytes

Padding not used consistantly

10

While working more with the planning scene, I noticed the link paddings and scales, but didn't remember to have set them anywhere. Turns out those values are the defaults, since...

bit-pirate

As also mentioned in https://groups.google.com/forum/#!topic/moveit-users/MFXZWp7_iSQ: "We tested publishing an empty PlanningScene like you suggested, and it temporarily removed the octomap, but as soon as it got another scan, the entire...

skohlbr

sensor_origin ignored in maskContainment

1

The shape_mask::maskContainment method has a sensor_origin (or, in the .h file, sensor_pos) argument which it never uses.

peci1

The old robot_self_filter had the capability to check for shadow points (https://github.com/tu-darmstadt-ros-pkg/robot_self_filter/blob/master/src/self_mask.cpp#L417). This can be useful when dealing for filtering reflections and wrong distance measurements. The shape_mask implementation in MoveIt!...

skohlbr

MoveGroup has improper Chain parsing from URDF

1

If your URDF has a link A that is a parent to multiple joints, and that link is part of a requested chain, then MoveGroup GetActiveJoints() (and getCurrentJointValues(), etc.) returns...

pbeeson