Replace all moveit.ros.org to moveit.ai#3676
Merged
davetcoleman merged 1 commit intomoveit:galacticfrom Jan 28, 2026
Merged
Conversation
|
Please target the |
davetcoleman
approved these changes
Jan 28, 2026
apirsic
pushed a commit
to CroboticSolutions/moveit2
that referenced
this pull request
Feb 3, 2026
* Use separate callback queue + spinner for ExecuteTrajectoryAction (moveit#3676) This allows parallel execution + planning. Also required modifying updateSceneWithCurrentState() to allow skipping a scene update with a new robot state (from CurrentStateMonitor), if the planning scene is currently locked (due to planning). Otherwise, the CurrentStateMonitor would block too. Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> * PSM: simplify state_update_pending_ (moveit#3682) * Move update of state_update_pending_ to updateSceneWithCurrentState() * Revert to try_lock While there are a few other locks except explicit user locks (getPlanningSceneServiceCallback(), collisionObjectCallback(), attachObjectCallback(), newPlanningSceneCallback(), and scenePublishingThread()), these occur rather seldom (scenePublishingThread() publishes at 2Hz). Hence, we might indeed balance a non-blocking CSM vs. missed PS updates in favour of CSM. * Don't block for scene update from stateUpdateTimerCallback too The timer callback and CSM's state update callbacks are served from the same callback queue, which would block CSM again. * further locking adaptations reading dt_state_update_ and last_robot_state_update_wall_time_ does not lead to logic errors, but at most to a skipped or redundant update on corrupted data. Alternatively we could be on the safe side and turn both variables into std::atomic, but that would effectively mean locks on every read. Instead, only set state_update_pending_ as an atomic, which is lockfree in this case. Co-authored-by: Michael Görner <me@v4hn.de> * Ports changes to ROS2. --------- Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Michael Görner <me@v4hn.de> (cherry picked from commit ba35aaa) Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com>
helen9975
pushed a commit
to personalrobotics/moveit2
that referenced
this pull request
Feb 17, 2026
* Use separate callback queue + spinner for ExecuteTrajectoryAction (moveit#3676) This allows parallel execution + planning. Also required modifying updateSceneWithCurrentState() to allow skipping a scene update with a new robot state (from CurrentStateMonitor), if the planning scene is currently locked (due to planning). Otherwise, the CurrentStateMonitor would block too. Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> * PSM: simplify state_update_pending_ (moveit#3682) * Move update of state_update_pending_ to updateSceneWithCurrentState() * Revert to try_lock While there are a few other locks except explicit user locks (getPlanningSceneServiceCallback(), collisionObjectCallback(), attachObjectCallback(), newPlanningSceneCallback(), and scenePublishingThread()), these occur rather seldom (scenePublishingThread() publishes at 2Hz). Hence, we might indeed balance a non-blocking CSM vs. missed PS updates in favour of CSM. * Don't block for scene update from stateUpdateTimerCallback too The timer callback and CSM's state update callbacks are served from the same callback queue, which would block CSM again. * further locking adaptations reading dt_state_update_ and last_robot_state_update_wall_time_ does not lead to logic errors, but at most to a skipped or redundant update on corrupted data. Alternatively we could be on the safe side and turn both variables into std::atomic, but that would effectively mean locks on every read. Instead, only set state_update_pending_ as an atomic, which is lockfree in this case. Co-authored-by: Michael Görner <me@v4hn.de> * Ports changes to ROS2. --------- Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Michael Görner <me@v4hn.de> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
AravindhDeivaG
pushed a commit
to AravindhDeivaG/moveit2
that referenced
this pull request
Mar 21, 2026
…it#3317) * Ports moveit moveit#3676 and moveit#3682 (moveit#3283) * Use separate callback queue + spinner for ExecuteTrajectoryAction (moveit#3676) This allows parallel execution + planning. Also required modifying updateSceneWithCurrentState() to allow skipping a scene update with a new robot state (from CurrentStateMonitor), if the planning scene is currently locked (due to planning). Otherwise, the CurrentStateMonitor would block too. Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> * PSM: simplify state_update_pending_ (moveit#3682) * Move update of state_update_pending_ to updateSceneWithCurrentState() * Revert to try_lock While there are a few other locks except explicit user locks (getPlanningSceneServiceCallback(), collisionObjectCallback(), attachObjectCallback(), newPlanningSceneCallback(), and scenePublishingThread()), these occur rather seldom (scenePublishingThread() publishes at 2Hz). Hence, we might indeed balance a non-blocking CSM vs. missed PS updates in favour of CSM. * Don't block for scene update from stateUpdateTimerCallback too The timer callback and CSM's state update callbacks are served from the same callback queue, which would block CSM again. * further locking adaptations reading dt_state_update_ and last_robot_state_update_wall_time_ does not lead to logic errors, but at most to a skipped or redundant update on corrupted data. Alternatively we could be on the safe side and turn both variables into std::atomic, but that would effectively mean locks on every read. Instead, only set state_update_pending_ as an atomic, which is lockfree in this case. Co-authored-by: Michael Görner <me@v4hn.de> * Ports changes to ROS2. --------- Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Michael Görner <me@v4hn.de> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> (cherry picked from commit ba35aaa) # Conflicts: # moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp # moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp # moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp * Resolves merge conflicts. (moveit#3322) * Resolves merge conflicts. * Undoes erroneous auto-format. * Undoes erroneous auto-format. --------- Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
The ROS.org team is turning of moveit.ros.org, which redirects to moveit.ai currently. We need to find all instances of moveit.ros.org and make PRs to replace them.
@gbiggs is pushing to turn off moveit.ros.rog per this post from a year ago
https://discourse.openrobotics.org/t/move-of-nav2-and-moveit-repositories-at-github/37450