4.1.1

What's Changed

• Fix rclpy import and spin issues from (#87) by @andrewbowman23 in #88

New Contributors

• @andrewbowman23 made their first contribution in #88

Full Changelog: 4.1.0...4.1.1

4.1.0

What's Changed

• Allow clearing all collision objects by @amalnanavati in #69
• Add function to move gripper to a specific position by @ycheng517 in #70
• build(deps): bump pre-commit-ci/lite-action from 1.0.2 to 1.0.3 by @dependabot in #75
• build(deps): bump pre-commit-ci/lite-action from 1.0.3 to 1.1.0 by @dependabot in #77
• Add UR robot + generalize example to every robot by @m0rph03nix in #76
• Initialize parameters before ROS2 callbacks by @amalnanavati in #74
• [Bugfix] Copy mesh before scaling if it was passed in as a parameter by @amalnanavati in #80
• Feature/string error codes by @blooop in #83
• Fix potential deadlock and wait until service is available by @belalhmedan90 in #87

New Contributors

• @ycheng517 made their first contribution in #70
• @m0rph03nix made their first contribution in #76
• @blooop made their first contribution in #83
• @belalhmedan90 made their first contribution in #87

Full Changelog: 4.0.0...4.1.0

4.0.0

What's Changed

• Allow users to (dis)allow collisions with an object in #50
• Added setting of cartesian speed and acceleration #53
• Use cartesian_speed_limited_link instead of cartesian_speed_end_effector_link when available in #56
• Allow users to set various cartesian path service parameters in #58
• Add ability to move collision objects in #59
• Allow Scaling Collision Meshes in #62
• Reinstate Humble Compatibility for GetCartesianPath & Expose planning_scene To User in #66
• Allow users to preload a collision mesh in #67

Breaking changes

• The max_cartesian_speed property of MoveIt2 class is removed in #53

Full Changelog: 3.2.0...4.0.0

3.2.0

What's Changed

• Add asynchronous planning and execution by @amalnanavati in #40
• Add Path Constraints by @amalnanavati in #42
• Added Async Forward/Inverse Kinematics by @amalnanavati in #43
• Allow users to set planner_id and pipeline_id by @amalnanavati in #48

Full Changelog: 3.1.0...3.2.0

3.1.0

Additions

• Added crane_x7 robot model (#37)
• Add support for KUKA LBRs (#38)

3.0.0

Additions

• Add PhantomX Pincher to robots (#33)
• GripperInterface class (#34)
• Functionalities for adding primitive collision objects and attaching collision objects (#34)

Changes

• Make API for Cartesian paths more obvious (#35)
• Allow passing Pose and PoseStamped as pose goal (#35)
• Make wait_until_executed() return the success of execution (#35)
• Default skip_if_noop of gripper open()/close() to False (#36)

2.2.0

Changes

• Use frame_id in MoveIt2._plan_cartesian_path()
• Add a note about the official moveit_py bindings
• Add target_link param to plan
• Add Kinova JACO + MICO definitions to robot

Contributors

• amalnanavati
• egordon

2.1.0

See #11 for more details

Contributors

• Schnilz

2.0.0

See #3 for more details

1.1.0

See #2 for more details