* CHOMP: Fix handling of mimic joints (#3625 <https://github.com/moveit/moveit2/issues/3625>)
* Fix CHOMP segfault (#3621 <https://github.com/moveit/moveit2/issues/3621>)
* Contributors: Robert Haschke

* Fix RobotState::getRigidlyConnectedParentLinkModel() (#2985 <https://github.com/moveit/moveit2/issues/2985>)
* Implement realtime Ruckig jerk-limited smoothing (#2956 <https://github.com/moveit/moveit2/issues/2956>)
* New implementation for computeCartesianPath() (#2916 <https://github.com/moveit/moveit2/issues/2916>)
* Don't set reset observer callback & set CB after world_ is initialized (#2950 <https://github.com/moveit/moveit2/issues/2950>)
* Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943 <https://github.com/moveit/moveit2/issues/2943>)
* Optimize MOVE_SHAPE operations for FCL (#3601 <https://github.com/moveit/moveit2/issues/3601>)
* Allow moving of all shapes of an object in one go (#3599 <https://github.com/moveit/moveit2/issues/3599>)
* Silent "empty quaternion" warning from poseMsgToEigen() (#3435 <https://github.com/moveit/moveit2/issues/3435>)
* Propagate "clear octomap" actions to monitoring planning scenes (#3134 <https://github.com/moveit/moveit2/issues/3134>)
* Copy planning scene predicates in the copy constructor (#2858 <https://github.com/moveit/moveit2/issues/2858>)
* PSM: Correctly handle full planning scene message (#3610 <https://github.com/moveit/moveit2/issues/3610>) (#2876 <https://github.com/moveit/moveit2/issues/2876>), fixes #3538 <https://github.com/moveit/moveit2/issues/3538>/#3609 <https://github.com/moveit/moveit2/issues/3609>
* Switch to system version of octomap (#2881 <https://github.com/moveit/moveit2/issues/2881>)
* Contributors: AndyZe, Captain Yoshi, Chris Lalancette, Chris Schindlbeck, FSund, Gaël Écorchard, Robert Haschke, Sebastian Castro, Sebastian Jahr

* Export the IKFast library correctly (#2999 <https://github.com/moveit/moveit2/issues/2999>)
* Use Python3 with IKFast generation script (#2997 <https://github.com/moveit/moveit2/issues/2997>)
* Contributors: AndyZe

* Fix CHOMP segfault (#3621 <https://github.com/moveit/moveit2/issues/3621>)
* Contributors: Robert Haschke

* Fix constrained-based planning / PoseModelStateSpace (#2910 <https://github.com/moveit/moveit2/issues/2910>)
* Contributors: Robert Haschke

* Add python bindings for saving and loading geometry from a .scene file (#2971 <https://github.com/moveit/moveit2/issues/2971>)
* Add namespace to MoveitPy (#2884 <https://github.com/moveit/moveit2/issues/2884>)
* New planning scene message (#2885 <https://github.com/moveit/moveit2/issues/2885>)
* Contributors: Abhiroop Bhavsar, Bilal Gill, Jens Vanhooydonck

* Add SaveGeometryToFile and LoadGeometryFromFile services (#2973 <https://github.com/moveit/moveit2/issues/2973>)
* New implementation for computeCartesianPath() (#2916 <https://github.com/moveit/moveit2/issues/2916>)
* Consider attached collision objects in the ComputeFK service (#2953 <https://github.com/moveit/moveit2/issues/2953>)
* Contributors: Bilal Gill, Daniel García López, Robert Haschke

* Switch to system version of octomap (#2881 <https://github.com/moveit/moveit2/issues/2881>)
* Contributors: Chris Lalancette

* Replace obsolete header (#2978 <https://github.com/moveit/moveit2/issues/2978>)
* Fixed segmentation fault in depth_image_octomap_updater (#2963 <https://github.com/moveit/moveit2/issues/2963>)
* Fix deprecation warning (#2922 <https://github.com/moveit/moveit2/issues/2922>)
* Contributors: CihatAltiparmak, Robert Haschke, Sebastian Jahr

* New implementation for computeCartesianPath() (#2916 <https://github.com/moveit/moveit2/issues/2916>)
* Contributors: Robert Haschke

* Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints (#2970 <https://github.com/moveit/moveit2/issues/2970>)
* Implement realtime Ruckig jerk-limited smoothing (#2956 <https://github.com/moveit/moveit2/issues/2956>)
* Ensure the robot state is up-to-date before Servoing (#2954 <https://github.com/moveit/moveit2/issues/2954>)
* Correctly load smoothing plugins in Servo integration tests (#2965 <https://github.com/moveit/moveit2/issues/2965>)
* Small fixes to flaky MoveIt Servo integration tests (#2962 <https://github.com/moveit/moveit2/issues/2962>)
* Tune Servo params so it does not get stuck so easily (#2939 <https://github.com/moveit/moveit2/issues/2939>)
* Contributors: AndyZe, Sebastian Castro

* Fix key duplication in moveit_setup_assistant for FollowJointTrajectory (#2959 <https://github.com/moveit/moveit2/issues/2959>)
* Replace deprecated load_yaml with xacro.load_yaml in ros2_control.xacro template (#2934 <https://github.com/moveit/moveit2/issues/2934>)
* Remove additional word 'hardware' in Moveit Controllers section of MoveIt Setup Assistant (#2936 <https://github.com/moveit/moveit2/issues/2936>)
* Contributors: Chris Schindlbeck

* Cast of "max_velocity" and "max_acceleration" values to double (#2803 <https://github.com/moveit/moveit2/issues/2803>)
  Co-authored-by: Henning Kayser <mailto:henningkayser@picknik.ai>
* Contributors: Jorge Pérez Ramos

* Fix Pilz blending times... the right way (#2961 <https://github.com/moveit/moveit2/issues/2961>)
* Deduplicate joint trajectory points in Pilz Move Group Sequence capability (#2943 <https://github.com/moveit/moveit2/issues/2943>)
* Contributors: Chris Schindlbeck, Sebastian Castro