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‎capabilities/CHANGELOG.rst‎

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Changelog for package moveit_task_constructor_capabilities
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.4 (2025-10-15)
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------------------
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* Add missing include fmt/ranges.h (`#712 <https://github.com/moveit/moveit_task_constructor/issues/712>`_)
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* Provide action feedback during task execution (`#653 <https://github.com/moveit/moveit_task_constructor/issues/653>`_)
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* Increase minimum required CMake version to 3.16 supported by Ubuntu 20.04
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* Silent error "Found empty JointState message"
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* Simplify formatting code with https://github.com/fmtlib (`#499 <https://github.com/moveit/moveit_task_constructor/issues/499>`_)
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* Drop Melodic support
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* Fix Solution::fillMessage() (`#432 <https://github.com/moveit/moveit_task_constructor/issues/432>`_)
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* Add property trajectory_execution_info (`#355 <https://github.com/moveit/moveit_task_constructor/issues/355>`_, `#502 <https://github.com/moveit/moveit_task_constructor/issues/502>`_)
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* ExecuteTaskSolutionCapability: Rename goalCallback() -> execCallback()
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* Replace namespace robot\_[model|state] with moveit::core
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* Use pluginlib consistently (`#463 <https://github.com/moveit/moveit_task_constructor/issues/463>`_)
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* Contributors: Dhruv Patel, Michael Görner, Robert Haschke
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0.1.3 (2023-03-06)
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------------------
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‎capabilities/package.xml‎

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<package format="2">
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<name>moveit_task_constructor_capabilities</name>
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<version>0.1.3</version>
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<version>0.1.4</version>
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<description>
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MoveGroupCapabilites to interact with MoveIt
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</description>

‎core/CHANGELOG.rst‎

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Changelog for package moveit_task_constructor_core
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.4 (2025-10-15)
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------------------
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* Avoid duplicate scenes in Solution.msg from generator stages (`#639 <https://github.com/moveit/moveit_task_constructor/issues/639>`_)
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* Allow max Cartesian link speed in PlannerInterface (`#277 <https://github.com/moveit/moveit_task_constructor/issues/277>`_)
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* Enable collisions visualizations (`#708 <https://github.com/moveit/moveit_task_constructor/issues/708>`_)
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* LimitSolutions wrapper stage (`#710 <https://github.com/moveit/moveit_task_constructor/issues/710>`_)
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* Improve code documentation
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* CI: Fix Noble builds
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* Pick with custom max_velocity_scaling_factor during approach+lift
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* Rework pybind11 ABI compatibility checks
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* Remove pybind11 submodule
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* Upgrade pybind11 to v3
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* Modernize declaration of compile options
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* Factor out Python property handling to allow for reuse in custom Python wrappers
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* Fix clamping of joint constraints (`#665 <https://github.com/moveit/moveit_task_constructor/issues/665>`_)
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* Correctly report failures instead of issueing console warnings
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* Increase minimum required CMake version to 3.16 supported by Ubuntu 20.04
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* Python API: Allow passing a task's introspection object to SolutionBase::toMsg()
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* clang-format-14
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* Add support for GenerateRandomPose
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* python: Add Task::setRobotModel
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* Add path_constraints property to Connect stage
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* provide a fmt wrapper (`#615 <https://github.com/moveit/moveit_task_constructor/issues/615>`_)
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* Update API: JumpThreshold -> CartesianPrecision (`#611 <https://github.com/moveit/moveit_task_constructor/issues/611>`_)
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* Reduce stop time due to preempt (`#598 <https://github.com/moveit/moveit_task_constructor/issues/598>`_)
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* Add unittest for `#581 <https://github.com/moveit/moveit_task_constructor/issues/581>`_
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* Fix early planning preemption (`#597 <https://github.com/moveit/moveit_task_constructor/issues/597>`_)
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* MoveRelative: fix segfault on empty trajectory (`#595 <https://github.com/moveit/moveit_task_constructor/issues/595>`_)
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* MoveRelative: handle equal min/max distance (`#593 <https://github.com/moveit/moveit_task_constructor/issues/593>`_)
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* Cleanup unit tests and allow them to run via both, cmdline and pytest
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* Connect: Relax validity check of reached end state
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* Unify Python demo scripts
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* Switch shebang to python3
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* Silence gcc's overloaded-virtual warnings
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* Add property to enable/disable pruning at runtime (`#590 <https://github.com/moveit/moveit_task_constructor/issues/590>`_)
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* Disable pruning by default
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* test_pruning.cpp: Add new test
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* test_pruning.cpp: Extend test to ParallelContainer
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* PassThrough: cleanup unused headers
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* Avoid segfault if TimeParameterization is not set
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* CartesianPath: allow ik_frame definition if start and end are given as joint-space poses
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* Generalize utils::getRobotTipForFrame() to return error_msg instead of calling markAsFailure() on a solution
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* ComputeIK: Allow additional constraints for filtering solutions (`#464 <https://github.com/moveit/moveit_task_constructor/issues/464>`_)
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* Expose MultiPlanner to Python (`#474 <https://github.com/moveit/moveit_task_constructor/issues/474>`_)
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* Add unittest cartesianCollisionMinMaxDistance (`#538 <https://github.com/moveit/moveit_task_constructor/issues/538>`_)
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* Simplify formatting code with https://github.com/fmtlib (`#499 <https://github.com/moveit/moveit_task_constructor/issues/499>`_)
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* Add NoOp stage (`#534 <https://github.com/moveit/moveit_task_constructor/issues/534>`_)
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* ModifyPlanningScene: check state for collisions
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* Improve TypeError exceptions
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* Drop Melodic support
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* Switch to package py_binding_tools
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* Add ability to move CollisionObjects (`#567 <https://github.com/moveit/moveit_task_constructor/issues/567>`_)
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* Improve description of max_distance property of Connect stage (`#564 <https://github.com/moveit/moveit_task_constructor/issues/564>`_)
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* Add Generator::spawn(from, to, trajectory) variant (`#546 <https://github.com/moveit/moveit_task_constructor/issues/546>`_)
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* Cosmetic fixes
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* Fix Solution::fillMessage() (`#432 <https://github.com/moveit/moveit_task_constructor/issues/432>`_)
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* Fix generation of Solution msg: consider backward operation
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* Propagate errors from planners to solution comment (`#525 <https://github.com/moveit/moveit_task_constructor/issues/525>`_)
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* JointInterpolationPlanner: Check joint bounds (`#505 <https://github.com/moveit/moveit_task_constructor/issues/505>`_)
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* Add property trajectory_execution_info (`#355 <https://github.com/moveit/moveit_task_constructor/issues/355>`_, `#502 <https://github.com/moveit/moveit_task_constructor/issues/502>`_)
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* Clear JointStates in scene diff (`#504 <https://github.com/moveit/moveit_task_constructor/issues/504>`_)
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* Set a non-infinite default timeout in CurrentState stage (`#491 <https://github.com/moveit/moveit_task_constructor/issues/491>`_)
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* Add GenerateRandomPose stage (`#166 <https://github.com/moveit/moveit_task_constructor/issues/166>`_)
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* GenerateGraspPose: Expose rotation_axis as property (`#535 <https://github.com/moveit/moveit_task_constructor/issues/535>`_)
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* Connect: ensure end-state matches goal state (`#532 <https://github.com/moveit/moveit_task_constructor/issues/532>`_)
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* Fix discontinuity in trajectory (`#485 <https://github.com/moveit/moveit_task_constructor/issues/485>`_)
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* Adaptions for https://github.com/ros-planning/moveit/pull/3534
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* Cleanup debug output
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* Fix duplicate solutions
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* printPendingPairs(os) -> os<<pendingPairsPrinter()
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* Fix leaking of failures into enumerated solutions
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* Add more debugging output
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* Unit tests for `#485 <https://github.com/moveit/moveit_task_constructor/issues/485>`_
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* DelayingWrapper stage to delay solution shipping in unit tests
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* Simplify tests
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* Skip Fallbacks::replaceImpl() when already correctly initialized (`#494 <https://github.com/moveit/moveit_task_constructor/issues/494>`_)
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* Fix demos (`#493 <https://github.com/moveit/moveit_task_constructor/issues/493>`_)
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* Limit time to wait for execute_task_solution action server
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* Replace namespace robot\_[model|state] with moveit::core
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* MPS: fixup processCollisionObject
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* Merge PR `#460 <https://github.com/moveit/moveit_task_constructor/issues/460>`_: improvements to ModifyPlanningScene stage
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* Gracefully handle NULL robot_trajectory (`#469 <https://github.com/moveit/moveit_task_constructor/issues/469>`_)
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* introspection: remove any invalid ROS-name chars from hostname (`#465 <https://github.com/moveit/moveit_task_constructor/issues/465>`_)
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* Fix SolutionBase::fillMessage(): also write start_scene
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* Fix add/remove object in backward operation
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* Add python binding for ModifyPlanningScene::removeObject
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* ComputeIK: update RobotState before calling setFromIK()
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* Use pluginlib consistently (`#463 <https://github.com/moveit/moveit_task_constructor/issues/463>`_)
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* Expose argument of PipelinePlanner's constructor to Python (`#462 <https://github.com/moveit/moveit_task_constructor/issues/462>`_)
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* Fix allowCollisions(object, enable_collision)
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* TestModifyPlanningScene
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* Basic Move test: MoveRelative + MoveTo
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* Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool)
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* Add python binding for Task::insert
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* Add Stage::explainFailure() (`#445 <https://github.com/moveit/moveit_task_constructor/issues/445>`_)
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* Improve documentation (`#431 <https://github.com/moveit/moveit_task_constructor/issues/431>`_)
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* JointInterpolationPlanner: pass optional max_effort property along to GripperCommand (`#458 <https://github.com/moveit/moveit_task_constructor/issues/458>`_)
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* Task: findChild() and operator[] should directly operate on stages() (`#435 <https://github.com/moveit/moveit_task_constructor/issues/435>`_)
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* Contributors: Abishalini, Ali Haider, Captain Yoshi, Daniel García López, Gauthier Hentz, Henning Kayser, JafarAbdi, Michael Görner, Michael Wiznitzer, Paul Gesel, Robert Haschke, Sebastian Castro, Sebastian Jahr, VideoSystemsTech
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0.1.3 (2023-03-06)
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* MoveRelative: Allow backwards operation for joint-space delta (`#436 <https://github.com/ros-planning/moveit_task_constructor/issues/436>`_)

‎core/package.xml‎

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<package format="3">
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<name>moveit_task_constructor_core</name>
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<version>0.1.3</version>
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<version>0.1.4</version>
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<description>MoveIt Task Pipeline</description>
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<url type="website">https://github.com/moveit/moveit_task_constructor</url>

‎demo/CHANGELOG.rst‎

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Changelog for package moveit_task_constructor_demo
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.4 (2025-10-15)
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------------------
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* Allow max Cartesian link speed in PlannerInterface (`#277 <https://github.com/moveit/moveit_task_constructor/issues/277>`_)
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* Add missing dependency
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* CI: Fix Noble builds
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* Pick with custom max_velocity_scaling_factor during approach+lift
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* Fix pick+place: connect should plan both, arm and hand motion
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* Increase minimum required CMake version to 3.16 supported by Ubuntu 20.04
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* clang-tidy fixes: std::endl -> '\n'
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* examples: add orientation path constraint
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* Update API: JumpThreshold -> CartesianPrecision (`#611 <https://github.com/moveit/moveit_task_constructor/issues/611>`_)
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* Unify Python demo scripts
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* Switch shebang to python3
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* Improve comments for pick-and-place task (`#238 <https://github.com/moveit/moveit_task_constructor/issues/238>`_)
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* Expose MultiPlanner to Python (`#474 <https://github.com/moveit/moveit_task_constructor/issues/474>`_)
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* Example of constrained orientation planning
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* Switch to package py_binding_tools
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* Fix demos (`#493 <https://github.com/moveit/moveit_task_constructor/issues/493>`_)
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* Merge PR `#460 <https://github.com/moveit/moveit_task_constructor/issues/460>`_: improvements to ModifyPlanningScene stage
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* Fix SolutionBase::fillMessage(): also write start_scene
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* Contributors: Fabian Schuetze, Gauthier Hentz, Michael Görner, Robert Haschke, VideoSystemsTech
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0.1.3 (2023-03-06)
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------------------
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* Use const reference instead of reference for ros::NodeHandle (`#437 <https://github.com/ros-planning/moveit_task_constructor/issues/437>`_)

‎demo/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>moveit_task_constructor_demo</name>
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<version>0.1.3</version>
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<version>0.1.4</version>
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<description>demo tasks illustrating various capabilities of MTC.</description>
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<author email="[email protected]">Robert Haschke</author>

‎msgs/CHANGELOG.rst‎

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Changelog for package moveit_task_constructor_msgs
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.4 (2025-10-15)
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------------------
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* Increase minimum required CMake version to 3.16 supported by Ubuntu 20.04
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* Add property trajectory_execution_info (`#355 <https://github.com/moveit/moveit_task_constructor/issues/355>`_, `#502 <https://github.com/moveit/moveit_task_constructor/issues/502>`_)
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* Contributors: Robert Haschke, Luca Lach
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‎msgs/package.xml‎

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<package format="2">
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<name>moveit_task_constructor_msgs</name>
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<version>0.1.3</version>
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<version>0.1.4</version>
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<description>Messages for MoveIt Task Pipeline</description>
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<license>BSD</license>

‎rviz_marker_tools/CHANGELOG.rst‎

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Changelog for package rviz_marker_tools
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.1.4 (2025-10-15)
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------------------
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* Increase minimum required CMake version to 3.16 supported by Ubuntu 20.04
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* clang-tidy fixes: use uint8_t enums
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* Ignore Debian-specific catkin_lint error around urdfdom_headers (`#614 <https://github.com/moveit/moveit_task_constructor/issues/614>`_)
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* clean up dependencies for rviz_marker_tools (`#610 <https://github.com/moveit/moveit_task_constructor/issues/610>`_)
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* rviz_marker_tools: add missing dependency on urdfdom
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* rviz_marker_tools: drop rviz dependency
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* Contributors: Michael Görner, Robert Haschke
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‎rviz_marker_tools/package.xml‎

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<package format="2">
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<name>rviz_marker_tools</name>
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<version>0.1.3</version>
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<version>0.1.4</version>
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<description>Tools for marker creation / handling</description>
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<license>BSD</license>

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