sbgisen / moveit

:robot: The MoveIt motion planning framework

The MoveIt Motion Planning Framework for ROS. For the ROS 2 repository see MoveIt 2. For the commercially supported version see MoveIt Pro.

Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.

• Overview of MoveIt
• Installation Instructions
• Documentation
• Get Involved

Branches Policy

• We develop latest features on master.
• The *-devel branches correspond to released and stable versions of MoveIt for specific distributions of ROS. noetic-devel is synced to master currently.
• Bug fixes occasionally get backported to these released versions of MoveIt.
• To facilitate compile-time switching, the patch version of MOVEIT_VERSION of a development branch will be incremented by 1 w.r.t. the package.xml's version number.

MoveIt Status

Continuous Integration

service	Melodic	Master
GitHub
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Licenses

ROS Buildfarm

MoveIt Package	Melodic Source	Melodic Debian	Noetic Source	Noetic Debian
moveit
moveit_core
moveit_kinematics
moveit_planners
moveit_planners_ompl
moveit_planners_chomp
chomp_motion_planner
moveit_chomp_optimizer_adapter
pilz_industrial_motion_planner
pilz_industrial_motion_planner_testutils
moveit_plugins
moveit_fake_controller_manager
moveit_simple_controller_manager
moveit_ros_control_interface
moveit_ros
moveit_ros_planning
moveit_ros_move_group
moveit_ros_planning_interface
moveit_ros_benchmarks
moveit_ros_perception
moveit_ros_occupancy_map_monitor
moveit_ros_manipulation
moveit_ros_robot_interaction
moveit_ros_visualization
moveit_ros_warehouse
moveit_servo
moveit_runtime
moveit_commander
moveit_setup_assistant
moveit_msgs
geometric_shapes
srdfdom
moveit_visual_tools
moveit_tutorials

Stargazers over time

moveit's Issues

Display the mesh after padding

Overview
I want to be able to display the effect of parameters related to padding in rviz.

default_robot_padding: 1.0
default_robot_scale: 1.0
default_object_padding: 1.0
default_attached_padding: 1.0

Reference

• moveit#1330 (comment)
• moveit/geometric_shapes#76 (comment)

[ERROR] [/rviz]: a message of over a gigabyte was predicted in tcpros. that seems highly unlikely, so I'll assume protocol synchronization is lost.

Description

#12 seems to have caused this to happen
When I get this error, the mouse stops working in Ubuntu and I have to reboot.

It seems that this error occurs when there are parts of the array that fail to initialize
Reference: ros(29):a message of over a gigabyte was predicted in tcpros. that seems highly unlikely, so I‘ll as

Your environment

• ROS Distro: [Noetic]
• OS Version: e.g. Ubuntu 20.04
• Source sbgisen/noetic-devel

Imported target "Boost::system" includes non-existent path

概要

Starting  >>> catkin_tools_prebuild                                                                                                                                                                               
Finished  <<< catkin_tools_prebuild                                   [ 1.0 seconds ]                                                                                                                             
Starting  >>> moveit_core                                                                                                                                                                                         
Starting  >>> ompl                                                                                                                                                                                                
__________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_core:cmake /home/soar/ros/logs/moveit_core/build.cmake.000.log                                                                                                                               
TODO: Analyse and fix gcc's maybe-uninitialized warnings
CMake Error in exceptions/CMakeLists.txt:
  Imported target "Boost::system" includes non-existent path

    "/include"

  in its INTERFACE_INCLUDE_DIRECTORIES.  Possible reasons include:

  * The path was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and references files it does not
  provide.

According to https://stackoverflow.com/questions/70585114/imported-target-boostsystem-includes-non-existent-path-include boost cmake are searching for include in /include when it should be /usr/include. Not sure when and why this happens but for now the work around for this is create a symbolic link

sudo ln -s /usr/include /include

再現手順
修正しないとどう困るか
原因
修正案

Move group can't connect to rviz on gazebo

Description

Occurs after #13
Move group does not connect to rviz when starting robot on gazebo
Occurs about once every 5 times

[ERROR] [/rviz]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
[ERROR] [/rviz]: Exception caught while processing action 'Frame::changePlanningGroup': boost: mutex lock failed in pthread_mutex_lock: Invalid argument

dynamically change octomap detection range

moveit/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp

Line 114 in 435c788

readXmlParam(params, "occupancy_min_z", &occupancy_min_z_);

The detection range is decided once on initialization, but it's more usable if we can change this dynamically.

Add option to use padded robot for self-collisions

Summary
Import parameters to set the avoidance distance for each link when planning with moveit.
You can read more about it in the PR I wrote in the Reference.

Purpose

• Enable/Disable self-collision checking
• Prevent self collision in the moveit operation.

Reference

• moveit/#2840

self mesh filter ignores orientation

Description

Self-mesh filter does not filter all of the robot's arm. Depending on the robot arm's pose, some links are not excluded. Assume that the mesh filter might not take into consideration to link's orientation.

CPU usage of rviz increases when running for long periods

Summary
Since the 814908b pull request, the cpu usage of rviz has been increasing over time.
I went back and verified the commits one by one, it seems to be caused by commit d98a529

• Reference : https://github.com/sbgisen/soar/issues/136#issuecomment-1614077178

Reproduction Procedure
Start rviz, moveit, and the gazebo environment.

How to fix it
Revert d98a529

Cause
I don't know what this commit is needed for or why this caused the bug
It's hard to see the commit log

Proposed fix
Revert d98a529

octomap_frame ignored when map_frame exist

概要

moveit/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp

Lines 87 to 88 in 1fbb2c4

	if (map_frame_.empty())
	if (!nh_.getParam("octomap_frame", map_frame_))

再現手順
修正しないとどう困るか
原因
修正案

planning scene object collide with octomap

Ideally, if an object in the planning scene overlaps the octomap, the boxes overlapping the object should be removed like the one below.
This is the core feature.

However, here are some examples where the boxes still overlaps with the object even after the cut out process is done.

I believe that this is because the robot or the sensor updating the octomap cannot see the overlapped boxes at that moment; hence the boxes are not removed. Here is an example where the generated octomap that is not updated because obstacle is not in view, are not removed even if the object overlaps with the octomap

Enabling debug_info_ causes topics with different encodings to be published in duplicate each time

Description

As the title says, filtered_cloud is published in duplicate each time

moveit/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp

Line 537 in fa41ddf

pub_filtered_depth_image_.publish(filtered_depth_msg, *info_msg);

moveit/moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp

Line 575 in fa41ddf

pub_filtered_depth_image_.publish(filtered_msg, *info_msg);

I want to make it an option whether to delete all scene objects from octomap or not

For example, when removing an object from a shelf, you do not want to exclude it from the octomap because you want to avoid the shelf as an obstacle.
However, we want to exclude the object to be grasped from the octomap.
Also, when placing an object somewhere, we want to exclude the support surface from the octomap.
We would like to create a mechanism that allows us to remove the octomap only for the specified area or objects.
First, to prevent all scenes from being removed from the octomap, we need to be able to disable this function with a parameter.

filtered_cloud is incorrect

Description

If you set debug to true in move_group.launch, you can see filtered_cloud in rviz
This filtered_cloud automatically removes the robot's own model and the model of the scene added with rviz
However, this model is not fully removed and there is a point cloud that is not removed as shown in the image

Your environment

• ROS Distro: [Kinetic|Melodic|Noetic]
• OS Version: e.g. Ubuntu 18.04
• Source or Binary build?
• If binary, which release version?
• If source, which branch?

Steps to reproduce

Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.

Expected behaviour

Tell us what should happen

Actual behaviour

Tell us what happens instead

Backtrace or Console output

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.