ros-melodic-play-motion (0.4.8-1stretch) stretch; urgency=high

  * Fixes for shadowed variables
  * Contributors: Jordan Palacios

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Sun, 08 Sep 2019 22:00:00 -0000

ros-melodic-play-motion (0.4.7-1stretch) stretch; urgency=high

  * Merge branch 'melodic_fixes' into 'erbium-devel'
    changes for melodic deprecated MoveGroup (was renamed to MoveGroupInterface)
    See merge request app-tools/play_motion!5
  * changes for melodic deprecated MoveGroup (was renamed to MoveGroupInterface)
  * Contributors: Sai Kishor Kothakota, Victor Lopez

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Tue, 21 May 2019 22:00:00 -0000

ros-melodic-play-motion (0.4.6-1stretch) stretch; urgency=high

  * Merge branch 'use-weak-ref' into 'erbium-devel'
    Fix error when changing controllers during a motion
    See merge request app-tools/play_motion!4
  * Fix error when changing controllers during a motion
  * Contributors: Victor Lopez

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Thu, 27 Sep 2018 22:00:00 -0000

ros-melodic-play-motion (0.4.5-1stretch) stretch; urgency=high

  * fixed merge
  * 0.4.4
  * updated changelog
  * added missing joint trajectory controller for test
  * added missing position_controllers test
  * added missing xacro test depend
  * migration to kinetic
  * added extra test dependencies
  * added gitignore and update new ros_control kinetic compatibility
  * Contributors: Hilario Tome, Hilario Tomé

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Wed, 10 Jan 2018 23:00:00 -0000

ros-melodic-play-motion (0.4.4-1stretch) stretch; urgency=high

  * Update changelog
  * Merge branch 'add-run-motion' into 'cobalt-devel'
    add command line run_motion executables
    See merge request app-tools/play_motion!3
  * add command line run_motion executables
  * Contributors: Jordi Pages, Victor Lopez

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Wed, 22 Nov 2017 23:00:00 -0000

ros-melodic-play-motion (0.4.3-1stretch) stretch; urgency=high

  * Update changelog
  * Add play_motion continuous test
    fixes #6967
  * Migrate package to format 2, catkin lint fixes
  * Contributors: Victor Lopez

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Tue, 29 Mar 2016 22:00:00 -0000

ros-melodic-play-motion (0.4.2-1stretch) stretch; urgency=high

  * Update changelog
  * Merge branch 'fix_malformed_motion_crash' into 'cobalt-devel'
    Fix Malformed Motion Crash
    As explained in ticket:
    https://redmine/issues/12188
    Trying to make a new movement I mistakenly populated too short an array of positions and I crashed (consistently) play_motion.
    This gave the error (assert):
    ```
    play_motion: /tmp/buildd/play-motion-0.4.1/play_motion/src/play_motion_helpers.cpp:142: void play_motion::populateVelocities(const TrajPoint&, const TrajPoint&, play_motion::TrajPoint&): Assertion `num_joints == point_prev.positions.size() && num_joints == point_next.positions.size()' failed.
    ```
    This fixes it by throwing an exception instead.
  * Fix crash when malformed motion was requested
    It was an assert before, now it throws an exception. Added also a test.
  * Contributors: Sammy Pfeiffer, Victor Lopez

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Mon, 16 Nov 2015 23:00:00 -0000

ros-melodic-play-motion (0.4.1-1stretch) stretch; urgency=high

  * Update changelogs
  * Update package maintainer/authors
  * Merge pull request #45 from v-lopez/add-depender-exports
    Add missing configuration for depender projects
  * Add missing configuration for depender projects
  * Merge pull request #44 from bmagyar/convenience_functions
    Convenience functions
  * Refactor argument names to convention
  * Add function alternatives where NodeHandle defaults to one of play_motion
  * Merge pull request #43 from dpinol/debugging_error0
    Log error when error code is 0
  * log error when core is 0
  * Merge pull request #42 from pal-robotics/min-approach-dur
    Add new optional config parameter.
  * Add default values and units to sample config.
  * Add new optional config parameter.
    Add new parameter to configure the minimum approach time to use when
    skip_planning = true.
    If we time-parameterize trajectories using MoveIt's built-in methods, we'd
    be able to get rid of this additional parameter, but in the meantime, it
    addresses an important issue.
  * Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Daniel Pinyol, Paul Mathieu, Víctor López

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Thu, 20 Nov 2014 23:00:00 -0000

ros-melodic-play-motion (0.4.0-1stretch) stretch; urgency=high

  * Update changelogs
  * Merge pull request #40 from pal-robotics/add-install-rule
    Add install() rule for headers
  * Add install() rule for headers
  * Template specialization must be marked as inline
    ... if we want to include it in multiple source files
  * Merge pull request #29 from pal-robotics/cast-bug
    Allow cast from int to double in xmlrpc helpers
  * Fetch time_from_start as a double
    This will trigger the template specialization of the previous commit
    Fixes #28
  * Merge pull request #36 from pal-robotics/motion-planning
    MoveIt! integration
  * Update README and sample config files
  * Simplify how to disable motion planning.
    - Move disable_motion_planning param to play_motion's namespace, instead of
    nesting it inside approach_planner.
    - Update tests to exercise this behavior.
  * Make tests build cleanly and pass.
    - Add additional config to force no motion planning in existing tests.
    - Fix compiler warnings.
    - Lift test timeout. Otherwise as the test suite increases we'll need to
    keep on tweaking the value. Timeout errors are highly non-descriptive.
  * Allow to disable motion planning altogether.
    - Setting '~/approach_planner/disable_motion_planning=true' will cause
    play_motion to not initialize its motion planning instances.
    - When deployed like this, the node will only accept goals expplicitly
    specifying 'skip_planning=true'
  * Merge pull request #32 from pal-robotics/list-motions-srv
    Add service call to query available motions.
  * Refactor move_joint file layout.
    - Move guts to src/play_motion/move_joint.py
    - scripts/move_joint is a thin wrapper that catches any unhandled
    exceptions, thus preventing lengthy tracebacks that confuse
    non-developers.
    - Add move_joint to the install target.
  * Colorize move_joint output.
  * Simplify move_joint logic.
  * Fix bug in applying computed reach time.
    A regression was introduced in which the reach time was not propagated to all
    motion waypoints.
  * Silence compiler warnings.
  * First iteration of move_joint script. Refs #33.
  * Don't compute approach time if specified.
    When skip_planning is set to True, the input motion might specify a valid
    time_from_start for the first waypoint. The automatic reach time computation
    is thus done only when the first waypoint contains a zero time_from_start.
  * Handle first waypoints with time_from_start == 0.
    Two different scenarios have been addressed when the first waypoint has zero
    time_from_start:
    - Bugfix: If the approach trajectory is null, but non-planning joints move
    a reach time must be computed for the first waypoint.
    - Cosmetic fix: Current state coincides with first waypoint. We make the
    time_from_start be a small, almost zero value to prevent the controllers
    from issuing a warning.
  * Add service call to query available motions.
  * Isolate move_group async spinner from rest of node
    Without this change, the synchronous spinning of play_motion was compromised.
    Now play_motion preserves its synchronous spin behavior, and move_group
    instances share a separate asynchronously serviced callback queue.
    This changeset can be considered an initial fix for #31: When canceling a goal,
    the cancel request will block until planning completes, but will then be
    serviced correctly. The current planning latencies are small enough to make this
    solution acceptable.
  * Make tests build.
    - Adapt test logic to new message layout.
    - Tests currently don't run successfully, as rrbot doesn't yet have a MoveIt!
    configuration.
  * Fix crash when approach planner requisites not met
    - If the required rosparam config is absent, print a descriptive error and
    don't crash.
  * Make planning optional. Deprecate reach_time.
    - The action message has a new field: skip_planning, used to request for no
    motion planning to take place, case in which the approach time is
    automatically computed from a specified maximum velocity.
    - The above point means that the reach_time parameter is no longer required,
    hence has been removed from the action goal message.
    - A side-effect of this, is that the reach_time is computed by the approach
    planner, and no longer has to be forwarded all the way down to the
    MoveJointGroup instances.
  * Silence cppcheck warning.
    - Type qualifiers ignored on function return type [-Wignored-qualifiers]:
    Function expecting const int returned int.
  * Log message aesthetics. Caps, better messages.
  * Action goal fails when approach computation fails.
    - Fix for bug where goal remained active indefinitely.
  * Proper support for setting waypoint vel, acc.
    - Expose acceleration field through PlayMotion and MoveJointGroup.
    - In MoveJointGroup, don't set zero velocity if unspecified. Since we now have
    the populateVelocities method, it's already being taken care of there.
  * Refactor approach computation internals.
    Planning group selection has been improved to select groups that:
    - Span at least the joint of the input motion that change between current and
    goal configurations.
    - Span at most all joints of the input motion.
  * First prototype of motion planning support.
    - Add dependencies on MoveIt!
    - Add helper class that plans an approach trajectory when needed, and is able to
    reason about which planning groups to use
    - Pending tasks documented as inline TODOs
  * Merge pull request #30 from pal-robotics/refactor-check-controllers
    Refactor how controllers are checked.
  * Refactor how controllers are checked.
    - Unify in a central place controller checks.
    - Busy controllers are detected at the earliest possible moment.
    - Pave the way for incorporating motion planning. Without this changeset,
    we risked computing approach plans even when play_motion is busy executing
    executing a motion. Not good.
  * Allow cast from int to double in xmlrpc helpers
    Fixes #28
  * Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Mathieu

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Tue, 22 Apr 2014 22:00:00 -0000

ros-melodic-play-motion (0.3.5-1stretch) stretch; urgency=high

  * "0.3.5"
  * Update changelogs
  * Harmonize doxygen tags
  * Merge pull request #21 from pal-robotics/issue-20
    Fix crash with empty motion names. Fixes #20.
  * Fix crash with empty motion names. Fixes #20.
  * Merge pull request #22 from pal-robotics/doc-fix
    Minor doc fix.
  * Minor doc fix.
  * Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Mathieu

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Mon, 24 Feb 2014 23:00:00 -0000

ros-melodic-play-motion (0.3.4-1stretch) stretch; urgency=high

  * "0.3.4"
  * Update changelogs
  * Merge pull request #14 from pal-robotics/refactor-popuvel
    Refactor populateVelocities
  * Revert intrusive changes to main function.
    - Don't swallow unexpected exceptions. Let the message show on program
    termination.
    - Hide async spinner requirements of the approach planner to its implementation.
  * Refactor populateVelocities. Document it.
  * Merge pull request #19 from pal-robotics/propagate-status
    Propagate controller action final state
  * Propagate controller action state to internal API
    So that a proper message can be displayed, and appropriate
    measures be taken.
    Fixes #15
  * Refactor some stuff in play_motion.cpp
    controllerCb had no business inside PlayMotion class
  * Refactor and document MoveJointGroup
  * Merge pull request #13 from pal-robotics/use-ros-messages
    Use existing msg types for traj points. (#4)
  * Replace test_depend with build_depend
    <test_depend/> tags are ignored by almost everybody.
  * Use existing msg types for traj points. Refs #4.
    - Move from the custom structs to trajectory_msgs types.
    - Waypoints can now have accelerations.
  * Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Mathieu

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Sun, 23 Feb 2014 23:00:00 -0000

ros-melodic-play-motion (0.3.3-1stretch) stretch; urgency=high

  * "0.3.3"
  * Update changelogs
  * Fix dependencies (add sensor_msgs)
    This is hopefully fixing the build on the buildfarm
  * Merge pull request #11 from v-lopez/hydro-devel
    Add install target for play_motion_helpers lib
  * Add install target for play_motion_helpers lib
  * Update is_already_there service with new repo topology
  * Merge pull request #10 from pal-robotics/split-msgs
    Split package into play_motion and play_motion_msgs
  * Split package into play_motion and play_motion_msgs
    fixes #9
  * Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Mathieu, Víctor López

 -- Victor Lopez <victor.lopez@pal-robotics.com>  Wed, 19 Feb 2014 23:00:00 -0000

ros-melodic-play-motion (0.3.2-1stretch) stretch; urgency=high



 -- Victor Lopez <victor.lopez@pal-robotics.com>  Tue, 04 Feb 2014 23:00:00 -0000

ros-melodic-play-motion (0.3.1-1stretch) stretch; urgency=high



 -- Victor Lopez <victor.lopez@pal-robotics.com>  Wed, 04 Dec 2013 15:48:01 +0100

ros-melodic-play-motion (0.3.0-1stretch) stretch; urgency=high



 -- Victor Lopez <victor.lopez@pal-robotics.com>  Wed, 27 Nov 2013 23:00:00 -0000


