1.0.2 (#55)

Author: sea-bass

CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package pick_ik
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.2 (2023-07-25)
+------------------
+* New options to control solution quality and performance
+   * Option to rerun optimization until valid solution or timeout (`#53 <https://github.com/PickNikRobotics/pick_ik/pull/53>`_)
+   * Option to keep optimizing after a valid solution was found (`#46 <https://github.com/PickNikRobotics/pick_ik/pull/46>`_)
+   * Approximate solution cost threshold (`#51 <https://github.com/PickNikRobotics/pick_ik/pull/51>`_) and joint jump threshold parameters (`#42 <https://github.com/PickNikRobotics/pick_ik/pull/42>`_)
+   * Position scale parameter (`#47 <https://github.com/PickNikRobotics/pick_ik/pull/47>`_)
+* Fix ordering of joint limits when loading robot model (`#54 <https://github.com/PickNikRobotics/pick_ik/pull/54>`_)
+* Fix use of solution callback (`#48 <https://github.com/PickNikRobotics/pick_ik/pull/48>`_)
+* Remove unnecessary preprocessor macro (`#40 <https://github.com/PickNikRobotics/pick_ik/pull/40>`_)
+* Contributors: Marc Bestmann, Sebastian Castro, Erik Holum
+
 1.0.1 (2023-03-28)
 ------------------
 * Set Werror through CMake presets (`#39 <https://github.com/PickNikRobotics/pick_ik/issues/39>`_)
@@ -11,10 +23,10 @@ Changelog for package pick_ik
 * Update Catch2 version to 3.3.0
 * Fix overriding of package
 * Fix orientation calculation in cost function and frame tests (`#31 <https://github.com/PickNikRobotics/pick_ik/issues/31>`_)
-  * Fix orientation calculation
-  * Update plugin return values
-  * Remove redundant (and incorrect) joints bounds check
-  * Use Eigen angular distance calculation
+   * Fix orientation calculation
+   * Update plugin return values
+   * Remove redundant (and incorrect) joints bounds check
+   * Use Eigen angular distance calculation
 * Small grammar fixes (`#28 <https://github.com/PickNikRobotics/pick_ik/issues/28>`_)
 * Contributors: Sebastian Castro, Stephanie Eng, Tyler Weaver
 
@@ -25,6 +37,6 @@ Changelog for package pick_ik
 * Memetic algorithm (global solver), configurable for single or multi-threading
 * Basic goal functions: joint centering, avoid joint limits, minimal joint displacement
 * Support for position-only IK and approximate solutions
-* Dynamic parameter switching at runtime using `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`
+* Dynamic parameter switching at runtime using `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_
 * Docker devcontainer workflow for VSCode
 * Contributors: Chris Thrasher, Sebastian Castro, Tyler Weaver

README.md

@@ -24,3 +24,4 @@ To get started using `pick_ik`, refer to the following README files:
 
 * [Installation](doc/INSTALL.md)
 * [Usage](doc/USAGE.md)
+* [MoveIt Tutorial](https://moveit.picknik.ai/main/doc/how_to_guides/pick_ik/pick_ik_tutorial.html)

doc/INSTALL.md

@@ -2,12 +2,14 @@
 
 ## Install from binaries
 
-COMING SOON! Once a release of `pick_ik` is available, you should be able to get this package with, e.g.,:
+You can install the latest release of `pick_ik` from binaries using:
 
 ```
-sudo apt install ros-humble-pick-ik
+sudo apt install ros-${ROS_DISTRO}-pick-ik
 ```
 
+where `${ROS_DISTRO}` refers to your ROS distribution (`humble`, `rolling`, etc.).
+
 ---
 
 ## Install from source

doc/USAGE.md

@@ -59,4 +59,4 @@ Keep in mind that you need to set `position_scale = 0.0` and `rotation_scale = 0
 If these parameters are non-zero, the target pose will still be part of the overall cost function.
 Additionally, you might want to define values for the `cost_threshold`, `approximate_solution_cost_threshold`, and `stop_optimization_on_valid_solution` parameters to decide when pick_ik will stop optimizing for your cost function and which solutions it should accept.
 
-Alternatively, consider adding your own cost functions to the `pick_ik` source code (specifically, in [`goal.hpp`](../include/goal.hpp) and [`goal.cpp`](../src/goal.cpp) and submit a pull request with the new functionality you add.
+Alternatively, consider adding your own cost functions to the `pick_ik` source code (specifically, in [`goal.hpp`](../include/goal.hpp) and [`goal.cpp`](../src/goal.cpp)) and submit a pull request with the new functionality you add.

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pick_ik</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>Inverse Kinematics solver for MoveIt</description>
   <author email="maybe@tylerjw.dev">Tyler Weaver</author>
   <maintainer email="maybe@tylerjw.dev">Tyler Weaver</maintainer>