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Migration Notes

API changes in MoveIt! releases

ROS Kinetic

  • In the C++ MoveGroupInterface class the plan() method returns a MoveItErrorCode object and not a boolean. static_cast<bool>(mgi.plan()) can be used to achieve the old behavior.
  • CurrentStateMonitor::waitForCurrentState(double wait_time) has been renamed to waitForCompleteState to better reflect the actual semantics. Additionally a new method waitForCurrentState(const ros::Time t = ros::Time::now()) was added that actually waits until all joint updates are newer than t.
  • To avoid deadlocks, the PlanningSceneMonitor listens to its own EventQueue, monitored by an additional spinner thread. Providing a custom NodeHandle, a user can control which EventQueue and processing thread is used instead. Providing a default NodeHandle, the old behavior (using the global EventQueue) can be restored, which is however not recommended.