2.12.0 (#3140)

moveit · Nov 29, 2024 · f7f91be · f7f91be
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diff --git a/moveit/CHANGELOG.rst b/moveit/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Contributors: Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit/package.xml b/moveit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>Meta package that contains all essential packages of MoveIt 2</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>

diff --git a/moveit_common/CHANGELOG.rst b/moveit_common/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_common/package.xml b/moveit_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_common</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>Common support functionality used throughout MoveIt</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>

diff --git a/moveit_configs_utils/CHANGELOG.rst b/moveit_configs_utils/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package moveit_configs_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Added joint limits to rviz launch file. (`#3091 <https://github.com/ros-planning/moveit2/issues/3091>`_)
+* Switch to get for Dict lookup to prevent KeyError (`#3043 <https://github.com/ros-planning/moveit2/issues/3043>`_)
+* fix move_group_capabilities usage (`#3018 <https://github.com/ros-planning/moveit2/issues/3018>`_)
+* Contributors: Brendan Burns, Matthew Elwin, Michael Ferguson
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_configs_utils/package.xml b/moveit_configs_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_configs_utils</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>Python library for loading moveit config parameters in launch files</description>
   <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/moveit_configs_utils/setup.py b/moveit_configs_utils/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version="2.11.0",
+    version="2.12.0",
     packages=find_packages(),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/moveit_core/CHANGELOG.rst b/moveit_core/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package moveit_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Removes unused deprecation.h file (`#3128 <https://github.com/ros-planning/moveit2/issues/3128>`_)
+* Add use_padding flag + deprecate checkCollisionUnpadded() functions (`#3088 <https://github.com/ros-planning/moveit2/issues/3088>`_)
+* Fixes flaky RobotState test (`#3105 <https://github.com/ros-planning/moveit2/issues/3105>`_)
+* Allow RobotState::setFromIK to work with subframes (`#3077 <https://github.com/ros-planning/moveit2/issues/3077>`_)
+* Fix jacobian calculation (`#3069 <https://github.com/ros-planning/moveit2/issues/3069>`_)
+* Port fixes for handling orientation constraints (`#3052 <https://github.com/ros-planning/moveit2/issues/3052>`_)
+* Fix createTrajectoryMessage (`#3064 <https://github.com/ros-planning/moveit2/issues/3064>`_)
+* Fix flipped comments in `joint_model.h` (`#3047 <https://github.com/ros-planning/moveit2/issues/3047>`_)
+* add helper function to load robot from package name + urdf + srdf (`#3039 <https://github.com/ros-planning/moveit2/issues/3039>`_)
+* Fix Cartesian interpolation (`#3020 <https://github.com/ros-planning/moveit2/issues/3020>`_)
+* Update urdf/model.h -> urdf/model.hpp (`#3003 <https://github.com/ros-planning/moveit2/issues/3003>`_)
+* Contributors: Mario Prats, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 * Fix RobotState::getRigidlyConnectedParentLinkModel() (`#2985 <https://github.com/moveit/moveit2/issues/2985>`_)

diff --git a/moveit_core/package.xml b/moveit_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_core</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>Core libraries used by MoveIt</description>
 
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>

diff --git a/moveit_kinematics/CHANGELOG.rst b/moveit_kinematics/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_kinematics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Contributors: Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 * Export the IKFast library correctly (`#2999 <https://github.com/moveit/moveit2/issues/2999>`_)

diff --git a/moveit_kinematics/package.xml b/moveit_kinematics/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_kinematics</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>Package for all inverse kinematics solvers in MoveIt</description>
 
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>

diff --git a/moveit_planners/chomp/chomp_interface/CHANGELOG.rst b/moveit_planners/chomp/chomp_interface/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package chomp_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Contributors: Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 * Fix CHOMP segfault (`#3621 <https://github.com/moveit/moveit2/issues/3621>`_)

diff --git a/moveit_planners/chomp/chomp_interface/package.xml b/moveit_planners/chomp/chomp_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_planners_chomp</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>The interface for using CHOMP within MoveIt</description>
 
   <maintainer email="chitt@live.in">Chittaranjan Srinivas Swaminathan</maintainer>

diff --git a/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst b/moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package chomp_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Contributors: Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 * CHOMP: Fix handling of mimic joints (`#3625 <https://github.com/moveit/moveit2/issues/3625>`_)

diff --git a/moveit_planners/chomp/chomp_motion_planner/package.xml b/moveit_planners/chomp/chomp_motion_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>chomp_motion_planner</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>chomp_motion_planner</description>
 
   <maintainer email="chitt@live.in">Chittaranjan Srinivas Swaminathan</maintainer>

diff --git a/moveit_planners/moveit_planners/CHANGELOG.rst b/moveit_planners/moveit_planners/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_planners
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* have moveit_planners depend on chomp (`#3015 <https://github.com/ros-planning/moveit2/issues/3015>`_)
+* Contributors: Michael Ferguson
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_planners/moveit_planners/package.xml b/moveit_planners/moveit_planners/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_planners</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>Meta package that installs all available planners for MoveIt</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>

diff --git a/moveit_planners/ompl/CHANGELOG.rst b/moveit_planners/ompl/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package moveit_planners_ompl
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Port fixes for handling orientation constraints (`#3052 <https://github.com/ros-planning/moveit2/issues/3052>`_)
+* Contributors: Robert Haschke, Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 * Fix constrained-based planning / PoseModelStateSpace (`#2910 <https://github.com/moveit/moveit2/issues/2910>`_)

diff --git a/moveit_planners/ompl/package.xml b/moveit_planners/ompl/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_planners_ompl</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>MoveIt interface to OMPL</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>

diff --git a/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package pilz_industrial_motion_planner
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Fix: Resolve race condition in MoveGroupSequenceAction (`#3125 <https://github.com/ros-planning/moveit2/issues/3125>`_)
+* Fixes pilz tests (`#3095 <https://github.com/ros-planning/moveit2/issues/3095>`_)
+* Allow RobotState::setFromIK to work with subframes (`#3077 <https://github.com/ros-planning/moveit2/issues/3077>`_)
+* Enhancement/ports moveit 3522 (`#3070 <https://github.com/ros-planning/moveit2/issues/3070>`_)
+* Ports moveit/moveit/pull/3519 to ros2 (`#3055 <https://github.com/ros-planning/moveit2/issues/3055>`_)
+* Enhancement/moveit ros1 ports (`#3041 <https://github.com/ros-planning/moveit2/issues/3041>`_)
+* Contributors: Maxwell.L, Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 * Fix Pilz blending times... the right way (`#2961 <https://github.com/moveit/moveit2/issues/2961>`_)

diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pilz_industrial_motion_planner</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>MoveIt plugin to generate industrial trajectories PTP, LIN, CIRC and sequences thereof.</description>
 
   <maintainer email="c.henkel@pilz.de">Christian Henkel</maintainer>

diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst b/moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package pilz_industrial_motion_planner_testutils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Contributors: Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml b/moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pilz_industrial_motion_planner_testutils</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>Helper scripts and functionality to test industrial motion generation</description>
 
   <maintainer email="c.henkel@pilz.de">Christian Henkel</maintainer>

diff --git a/moveit_planners/stomp/CHANGELOG.rst b/moveit_planners/stomp/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_planners_stomp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Contributors: Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_planners/stomp/package.xml b/moveit_planners/stomp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_planners_stomp</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>STOMP Motion Planner for MoveIt</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_resources_prbt_ikfast_manipulator_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Contributors: Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml b/moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <package format="3">
   <name>moveit_resources_prbt_ikfast_manipulator_plugin</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>The prbt_ikfast_manipulator_plugin package</description>
   <maintainer email="a.gutenkunst@pilz.de">Alexander Gutenkunst</maintainer>
   <maintainer email="c.henkel@pilz.de">Christian Henkel</maintainer>

diff --git a/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst b/moveit_planners/test_configs/prbt_moveit_config/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_resources_prbt_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_planners/test_configs/prbt_moveit_config/package.xml b/moveit_planners/test_configs/prbt_moveit_config/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_resources_prbt_moveit_config</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>
     <p>
       MoveIt Resources for testing: Pilz PRBT 6

diff --git a/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst b/moveit_planners/test_configs/prbt_pg70_support/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_resources_prbt_pg70_support
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_planners/test_configs/prbt_pg70_support/package.xml b/moveit_planners/test_configs/prbt_pg70_support/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>moveit_resources_prbt_pg70_support</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>PRBT support for Schunk pg70 gripper.</description>
 
   <maintainer email="a.gutenkunst@pilz.de">Alexander Gutenkunst</maintainer>

diff --git a/moveit_planners/test_configs/prbt_support/CHANGELOG.rst b/moveit_planners/test_configs/prbt_support/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package prbt_support
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_planners/test_configs/prbt_support/package.xml b/moveit_planners/test_configs/prbt_support/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>moveit_resources_prbt_support</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description> Mechanical, kinematic and visual description
   of the Pilz light weight arm PRBT. </description>
 

diff --git a/moveit_plugins/moveit_plugins/CHANGELOG.rst b/moveit_plugins/moveit_plugins/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package moveit_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_plugins/moveit_plugins/package.xml b/moveit_plugins/moveit_plugins/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_plugins</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>Metapackage for MoveIt plugins.</description>
 
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>

diff --git a/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst b/moveit_plugins/moveit_ros_control_interface/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package moveit_ros_control_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.12.0 (2024-11-29)
+-------------------
+* Enhancement/use hpp for headers (`#3113 <https://github.com/ros-planning/moveit2/issues/3113>`_)
+* Contributors: Tom Noble
+
 2.11.0 (2024-09-16)
 -------------------
 

diff --git a/moveit_plugins/moveit_ros_control_interface/package.xml b/moveit_plugins/moveit_ros_control_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit_ros_control_interface</name>
-  <version>2.11.0</version>
+  <version>2.12.0</version>
   <description>ros_control controller manager interface for MoveIt</description>
   <maintainer email="henningkayser@picknik.ai">Henning Kayser</maintainer>
   <maintainer email="tyler@picknik.ai">Tyler Weaver</maintainer>